PID.h

#ifndef __PID_H__
#define __PID_H__
 
#include <math.h>

class PID
{
public:
    PID() : m_Kp(1), m_Ki(0), m_Kd(0), m_minOutput(-INFINITY), m_maxOutput(INFINITY){}
    float compute(float setpoint, float input, float timestep);
    void reset();
    void setTunings(float Kp, float Ki, float Kd);
    void setOutputLimits(float minOutput, float maxOutput);
    float getKp() const {return m_Kp;}
    float getKi() const {return m_Ki;}
    float getKd() const {return m_Kd;}
    float getMinOutput() const {return m_minOutput;}
    float getMaxOutput() const {return m_maxOutput;}
 
private:
 
    float m_errorIntegral; 
    float m_previousError; 
 
    float m_Kp;
    float m_Ki;
    float m_Kd;
    float m_minOutput; 
    float m_maxOutput;
};
 
#endif // __PID_H__