inintial c

main.bak

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+#include "pico/stdlib.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#define POLL_PERIOD 50 //time between polls (ms)
+#define MAX_STORED_VALUES 10 //number of stored values to calculate e_dot and e_dot_dot values
+
+int kp = 10;
+int ki = 100;
+int kd = 1000;
+
+int set_temp = 30;
+
+int* e_prev;
+
+// Perform initialisation
+int* create_array(int size) {
+    int* array = (int*)malloc(size * sizeof(int));
+
+    for (int i = 0; i < size; i++) { //fill with 0s so it doesnt confuse the controller
+        array[i] = 0;
+    }
+
+    return array;
+}
+
+int calculate_integral(int* array) {
+    int sum = 0;
+
+    for (int i = 0; i < MAX_STORED_VALUES; i++ ) {
+        sum += array[i];
+    }
+
+    sum *= POLL_PERIOD;
+
+    return sum;
+}
+
+int* push_array(int* array, int value) {
+    for (int i = 1; i < MAX_STORED_VALUES; i++) {
+        array[i] = array[i-1];
+    }
+
+    array[0] = value;
+
+    return array;
+}
+
+void init(void) {
+    *e_prev = create_array(MAX_STORED_VALUES);
+    gpio_init(PICO_DEFAULT_LED_PIN);
+    gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+}
+
+void pico_set_led(bool led_on) {
+    gpio_put(PICO_DEFAULT_LED_PIN, led_on);
+}
+
+int calculate_pid(int* error_array, float x) {
+    int e = set_temp-x; 
+
+    push_array(error_array, e);
+
+    int e_dot = (e - error_array[0]) / POLL_PERIOD;
+    int e_int = calculate_integral(error_array);
+   
+    return e * kp + e_dot * kd + e_int * ki;
+}
+
+int main() {
+    //init();
+    stdio_init_all();
+    while (true)
+    {
+        /* code */
+        printf("sadf");
+        sleep_ms(100);
+    }
+    
+
+}