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47 lines
920 B
C++
47 lines
920 B
C++
/*
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* pid.h
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*
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* Created on: Mar 25, 2025
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* Author: Modelec
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*/
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#ifndef INC_PID_H_
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#define INC_PID_H_
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class PID {
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protected:
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float kp, ki, kd;
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float integral = 0.0f;
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float prevError = 0.0f;
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float outMin, outMax;
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public:
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PID(float kp = 0.0f, float ki = 0.0f, float kd = 0.0f, float outMin = 0.0f, float outMax = 0.0f);
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float compute(float setpoint, float measurement, float dt);
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void reset();
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void setTunings(float kp, float ki, float kd) {
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this->kp = kp;
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this->ki = ki;
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this->kd = kd;
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}
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void setLimits(float out_min, float out_max) {
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this->outMin = out_min;
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this->outMax = out_max;
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}
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float getKp() const { return kp; }
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float getKi() const { return ki; }
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float getKd() const { return kd; }
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float getOutMin() const { return outMin; }
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float getOutMax() const { return outMax; }
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};
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#endif /* INC_PID_H_ */
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