add firmware

utils/pid.h

@@ -0,0 +1,14 @@
+#pragma once
+
+struct PID_Data
+{
+  float Min, Max;
+  struct
+  {
+    float Min, Max;
+    float C;
+  }P,I,D;
+  float i = 0;
+};
+
+float PID_Update(float Value, float Current, PID_Data& Coef, float de);