pidcontroller.h

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// SPDX-License-Identifier: AGPL-3.0-or-later
 
#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H
 
// Comment this in to transmit PID controller data for tuning/visualization. See DEVELOPER/README.md for instructions.
// #define PID_CONTROLLER_TUNING_AID_ADDRESS "192.168.2.22"
 
class cPidController {
public:
    cPidController(double, double, double, double);
    double GetTargetValue() { return targetValue; }
    double GetPTerm() { return pTerm; }
    double GetITerm() { return iTerm; }
    double GetDTerm() { return dTerm; }
    void Reset();
    void SetTargetValue(double value) { targetValue = value; }
    double Update(double, double);
 
private:
    double proportionalGain = 0; 
    double integralGain = 0;     
    double derivativeGain = 0;   
 
    double pTerm = 0;            
    double iTerm = 0;            
    double dTerm = 0;            
 
    double targetValue = 0;      
    double integralSum = 0;      
    double previousError = 0;    
 
    bool firstRun = true;        
    double maxOutput = 0;        
    double maxIntegral = 0;      
 
#ifdef PID_CONTROLLER_TUNING_AID_ADDRESS
    void SendTuningAidData(double, double, double, double, double, double);
#endif
};
 
#endif