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- #pragma once
- struct PID_Einstellung{
- int Tn; // Abtastzeit in ms
- float I; // Integralanteil = 1/Ta
- int Kp; // Verstärkung
- int Tv; // Differenzieller Anteil
- int e; // Regelabweichung
- float esum; // Summe der Regelabweichungen
- int ealt; // Regelabweichung zum ZP z-1
- int u;
- };
- void PID_Cyclic (int goal, int current, struct PID_Einstellung& PID);
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