PID.h

/*
 * Copyright (c) 2015 Pavel Vainerman.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as
 * published by the Free Software Foundation, version 2.1.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Lesser Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 */
// -----------------------------------------------------------------------------
#ifndef PID_H_
#define PID_H_
// -----------------------------------------------------------------------------
#include <sstream>
#include <iomanip>
// --------------------------------------------------------------------------
namespace uniset
{
// -----------------------------------------------------------------------------
class PID
{
    public:
        PID();
        ~PID();

        void step( const double& X, const double& Z, const double& Ts );

        void reset();

        void recalc();

        double Y;    
        double Kc;    
        double Ti;    
        double Td;    
        double vlim;     
        double d0;
        double d1;
        double d2;
        double sub1;
        double sub2;
        double sub;
        double prevTs;

        friend std::ostream& operator<<(std::ostream& os, PID& p );

        friend std::ostream& operator<<(std::ostream& os, PID* p )
        {
            return os << (*p);
        }

    protected:
    private:
};
// --------------------------------------------------------------------------
} // end of namespace uniset
// -----------------------------------------------------------------------------
#endif // PID_H_
// -----------------------------------------------------------------------------