#ifndef BASICPIDLIBRARY_h

#define BASICPIDLIBRARY_h

#define DECIMAL double

//#define DECIMAL float

class BasicPIDLibrary

{

public:

//commonly used functions **************************************************************************

BasicPIDLibrary(DECIMAL Kp, DECIMAL Ki, DECIMAL Kd);

bool Compute(DECIMAL, DECIMAL,DECIMAL&); // * performs the PID calculation. it should be

// called every time loop() cycles.

void SetOutputLimits(DECIMAL, DECIMAL); // * clamps the output to a specific range. 0-255 by default, but

// it's likely the user will want to change this depending on

// the application

//available but not commonly used functions ********************************************************

void SetTunings(DECIMAL, DECIMAL, // * While most users will set the tunings once in the

DECIMAL); // constructor, this function gives the user the option

void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT

// means the output will increase when error is positive. REVERSE

// means the opposite. it's very unlikely that this will be needed

// once it is set in the constructor.

void SetSampleTimeMilliseconds(int); // * sets the frequency, in Milliseconds, with which

// the PID calculation is performed. default is 100

//Display functions ****************************************************************

DECIMAL GetKp(){return kp;}; // These functions query the pid for interal values.

DECIMAL GetKi(){return ki;}; // they were created mainly for the pid front-end,

DECIMAL GetKd(){return kd;}; // where it's important to know what is actually

void DisableController(void);

void EnableController(void);

DECIMAL GetIValue() { return mOutputSum; };

DECIMAL GetDValue() { return mLastChange; };

private:

void Initialize();

bool mEnabled;

DECIMAL kp; // * (P)roportional Tuning Parameter

DECIMAL ki; // * (I)ntegral Tuning Parameter

DECIMAL kd; // * (D)erivative Tuning Parameter

unsigned long mLastTime;

DECIMAL mOutputSum;

DECIMAL mLastInput;

DECIMAL mLastChange=0.0;

unsigned long mSampleTime;

DECIMAL mOutMax;

DECIMAL mOutMin;

};

#endif