pid.h

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#pragma once
 
class PIDImpl;
class PID
{
    public:
        // Kp -  proportional gain
        // Ki -  Integral gain
        // Kd -  derivative gain
        // dt -  loop interval time
        // max - maximum value of manipulated variable
        // min - minimum value of manipulated variable
        PID( double dt, double max, double min, double Kp, double Kd, double Ki );
 
        void setIntegratorLimits(double min, double max);
        void setTau(double value);
 
        // PID Gain Setters
        void setKp(double Kp);
        void setKi(double Ki);
        void setKd(double Kd);
 
        // PID Gain Getters
        void getGains(double &Kp, double &Ki, double &Kd) const;
 
        // Returns the manipulated variable given a setpoint and current process value
        double calculate( double setpoint, double pv );
 
        // Reset controller state (clears integral, previous error/measurement)
        void reset();
 
        // Individual term accessors
        double proportionalTerm() const;
        double integralTerm() const;
        double derivativeTerm() const;
        ~PID();
 
    private:
        PIDImpl *pimpl;
};