integerPID.h

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#pragma once
 
#include <stdint.h>
#include "PidCore.h"
 
class integerPID
{
public:
  
  integerPID(void); 
 
 
  void setOutputLimits(int32_t min, int32_t max); 
 
  void setSetPoint(int32_t setpoint) { _setpoint = setpoint; } 
  
  void setTunings(const PidTuningParameters &pidParams, uint32_t nowMs, uint16_t minComputeInterval);
 
  void setFeedForwardTerm(int32_t feedForwardTerm);
 
  
  void activate(int32_t input);
 
  bool compute(uint32_t nowMs, int32_t input, int32_t* pOutput);
 
  void reset(int32_t input);
 
  void resetIntegeral(void);
 
private:
 
  // TODO: shrink these to int16_t if possible
  int32_t _setpoint = 0;
  int32_t _feedForwardTerm = 0;
 
    uint32_t _lastTime = 0;
  // TODO: shrink these to int16_t if possible
  int32_t _lastInput = 0;
  
    uint16_t _sampleTime = 0;
    bool _isActive = false;
 
  PidCore _pidCore;
};