pidcontroller.h

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#ifndef SEMF_UTILS_PROCESSING_PIDCONTROLLER_H_
#define SEMF_UTILS_PROCESSING_PIDCONTROLLER_H_
 
#include <cfloat>
 
namespace semf
{
class PidController
{
public:
    PidController(double kp, double ki, double kd, double sampleTime, double yMin, double yMax, double setpoint = 0, double yStart = 0,
                  double deltaMax = DBL_MAX);
    virtual ~PidController() = default;
 
    void setKp(double kp);
    double kp() const;
    void setKi(double ki);
    double ki() const;
    void setKd(double kd);
    double kd() const;
    void setSampleTime(double sampleTime);
    double sampleTime() const;
    void setSetpoint(double setpoint);
    double setpoint() const;
    void setMaxOutput(double max);
    double maxOuput() const;
    void setMinOutput(double min);
    double minOutput() const;
    void setMaxDelta(double delta);
    double maxDelta() const;
    void reset(double yStart = 0);
    virtual double calculate(double currentValue);
 
private:
    void calculateQ0();
    void calculateQ1();
    void calculateQ2();
 
    double m_kp;         
    double m_ki;         
    double m_kd;         
    double m_sampleTime; 
    double m_q0;         
    double m_q1;         
    double m_q2;         
    double m_yMin;       
    double m_yMax;       
    double m_deltaMax;   
    double m_setpoint;   
    double m_yLast1;     
    double m_eLast1;     
    double m_eLast2;     
};
} /* namespace semf */
#endif /* SEMF_UTILS_PROCESSING_PIDCONTROLLER_H_ */