#ifndef _PI_CONTROLLER_H__
#define _PI_CONTROLLER_H__
typedef struct _pi {
	float Kp_gain;
	float Ki_gain;
	float limit_high_output;
	float limit_low_output;
}PI_ctrl_t;

float pi_control(PI_ctrl_t *pi, float error);

#endif  /* _PI_CONTROLLER_H__ */

