giuliomoro@149: /*
giuliomoro@149:  * Pid.h
giuliomoro@149:  *
giuliomoro@149:  *  Created on: 14 Sep 2015
giuliomoro@149:  *      Author: giulio
giuliomoro@149:  */
giuliomoro@149: 
giuliomoro@149: #ifndef PID_H_
giuliomoro@149: #define PID_H_
giuliomoro@149: #include <stdio.h>
giuliomoro@149: 
giuliomoro@149: class Pid{
giuliomoro@149: private:
giuliomoro@149: 	float integralError;
giuliomoro@149: 	float pastError;
giuliomoro@149: 	float error;
giuliomoro@149: 	float differentialError;
giuliomoro@149: 	float output;
giuliomoro@149: 	float kp;
giuliomoro@149: 	float ki;
giuliomoro@149: 	float kd;
giuliomoro@152: 	float gain;
giuliomoro@149: 	float ts;
giuliomoro@149: 	int idleTimeout;
giuliomoro@149: 	int timeoutCount;
giuliomoro@149: 	void updateIntegralError();
giuliomoro@149: 	void updateDifferentialError();
giuliomoro@149: public:
giuliomoro@149: 	Pid();
giuliomoro@149: 	float setError(float anError);
giuliomoro@149: 	void setIdleTimeout(int aIdleTimeout);
giuliomoro@149: 	float getOutput();
giuliomoro@152: 	void setProportionalGain(float proportionalGain);
giuliomoro@152: 	void setDerivativeGain(float derivativeGain);
giuliomoro@152: 	void setIntegralGain(float integralGain);
giuliomoro@152: 	void setGlobalGain(float globalGain);
giuliomoro@152: 	float getProportionalGain();
giuliomoro@152: 	float getDerivativeGain();
giuliomoro@152: 	float getIntegralGain();
giuliomoro@152: 	float getGlobalGain();
giuliomoro@152: 	float getIntegralError();
giuliomoro@149: };
giuliomoro@149: 
giuliomoro@149: 
giuliomoro@149: 
giuliomoro@149: #endif /* PID_H_ */