PID.hpp

/*
 * Copyright 2022 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
namespace arpirobot{
 
    class PID{
    public:
 
        PID(double kp = 0, double ki = 0, double kd = 0,
            double kf = 0, double min = -1.0, double max = 1.0);
 
        double getKp();
 
        void setKp(double kp);
 
        double getKi();
 
        void setKi(double ki);
 
        double getKd();
 
        void setKd(double kd);
 
        double getKf();
 
        void setKf(double kf);
 
        double getMin();
 
        void setMin(double min);
 
        double getMax();
 
        void setMax(double max);
 
 
        double getSetpoint();
 
        void setSetpoint(double setpoint);
 
        void reset();
 
        double getOutput(double currentPv);
 
 
    private:
        double kp, ki, kd, kf;          // Gains (P, I, D, and feedforward)
        double min, max;                // Values to cap PID output at
        double setpoint = 0;            // Current setpoint
 
        double integral = 0;            // Current accumulated (integral) value
        double lastError = 0;           // Previous error used in derivative value calculation
    };
 
}