integerPID_ideal.h

Go to the documentation of this file.

#pragma once
 
#include <stdint.h>
#include "PidCore.h"
 
class integerPID_ideal
{
public:
  
  integerPID_ideal(void);
 
 
  void setOutputLimits(uint8_t min, uint8_t max);
 
  void setSampleTime(uint32_t now, uint16_t minComputeInterval) { 
    _sampleTime = minComputeInterval; 
    _lastTime = now-minComputeInterval;
  }
  
  void setTunings(const PidTuningParameters& params) { 
      _pidCore.setTunings(params); 
  }
 
  void setSetPoint(uint16_t setpoint) { _setpoint = setpoint; }
  
  void setSensitivity(uint16_t sensitivity) { _sensitivity = sensitivity>5000U ? 5000 : sensitivity; }
  
  void setFeedForwardTerm(uint16_t feedForwardTerm) { _feedForwardTerm = feedForwardTerm; }
 
    void initialize(uint16_t input);
 
  bool compute(uint32_t now, uint16_t input, uint16_t* pOutput);
  
private:
 
  uint16_t _setpoint = 0;
  uint16_t _sensitivity = 0;
  uint16_t _sampleTime = 0; 
  uint16_t _feedForwardTerm = 0;
 
    uint32_t _lastTime = 0;
  uint16_t _lastInput = 0;
 
  PidCore _pidCore;
};