Program Listing for File pid.h

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// BSD 3-Clause License
//
// Copyright (c) 2023, Ekumen Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
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// 3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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#pragma once

namespace andino {

class Pid {
 public:
  Pid(int kp, int kd, int ki, int ko, int output_min, int output_max)
      : kp_(kp), kd_(kd), ki_(ki), ko_(ko), output_min_(output_min), output_max_(output_max) {}

  void reset(int encoder_count);

  bool enabled();

  void enable();

  void disable();

  void compute(int encoder_count, int& computed_output);

  void set_setpoint(int setpoint);

  void set_tunings(int kp, int kd, int ki, int ko);

 private:
  int kp_{0};
  int kd_{0};
  int ki_{0};
  int ko_{0};

  int output_min_{0};
  int output_max_{0};

  bool enabled_{false};

  int setpoint_{0};
  int integral_term_{0};
  long last_encoder_count_{0};
  int last_input_{0};
  long last_output_{0};
};

}  // namespace andino