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#ifndef INCLUDE_PIDCONTROLLER_H
#define INCLUDE_PIDCONTROLLER_H
#include "dsp/dsptypes.h"
class PIDController {
private:
Real m_p;
Real m_i;
Real m_d;
Real m_int;
Real m_diff;
public:
PIDController();
void setup(Real p, Real i, Real d);
Real feed(Real v)
{
m_int += v * m_i;
Real d = m_d * (m_diff - v);
m_diff = v;
return (v * m_p) + m_int + d;
}
};
#endif // INCLUDE_PIDCONTROLLER_H
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