/*****************************************************************/
/*							         */
/*   Copyright (c) Quinn-Curtis, 1991, 1992                      */
/*							         */
/*   Filename:  RTPID.H                                          */
/*   Revision:  2.5                                              */
/*   Date:      12/15/91                                         */
/*						                 */
/*   Description: -Routines for PID Control                      */
/*****************************************************************/

#ifdef __cplusplus
extern "C" {
#endif


#ifndef realtype
#include "rtstdhdr.h"
#endif


void rtreseterrorterms(int loopnum);
void rtinitpidstat(int numpid);
void rtfreepidstat(void);
void rtsetpidparameters(int loopnum, int ptype,
			realtype setpnt,realtype steadstat,realtype prop,
			realtype integ, realtype deriv,realtype lowclmp,
			realtype highclmp, realtype rateclmp,
			realtype sampleper, realtype filterconst);
realtype rtcalcpid(int loopnum, realtype currentval, realtype setpnt);



#ifdef __cplusplus
}
#endif