PIDController.h

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#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H
 
 
namespace controllers
{
 
 
    class PIDController
    {
        public:
            // Declare public enums that are specific to and used withing this class.
 
            // Declare public methods and member variables.
 
            PIDController(const double dKp, const double dKi, const double dKd, const double dKff = 0.0);
            double Calculate(const double dActual, const double dSetpoint);
            double Calculate(const double dActual);
            void EnableContinuousInput(const double dMinimumInput, const double dMaximumInput);
            void DisableContinuousInput();
            void Reset();
 
            // Setters
 
            void SetProportional(const double dKp);
            void SetIntegral(const double dKi);
            void SetDerivative(const double dKd);
            void SetFeedforward(const double dKff);
            void SetPID(const double dKp, const double dKi, const double dKd);
            void SetPID(const double dKp, const double dKi, const double dKd, const double dKff);
            void SetSetpoint(const double dSetpoint);
            void SetMaxSetpointDifference(const double dMaxSetpointDifference);
            void SetMaxIntegralEffort(const double dMaxIEffort);
            void SetTolerance(const double dTolerance);
            void SetOutputLimits(const double dMinEffort, const double dMaxEffort);
            void SetOutputLimits(const double dMaxMin);
            void SetOutputRampRate(const double dOutputRampRate);
            void SetOutputFilter(const double dStrength);
            void SetDirection(const bool bReversed = false);
 
            // Getters
 
            double GetProportional() const;
            double GetIntegral() const;
            double GetDerivative() const;
            double GetFeedforward() const;
            double GetSetpoint() const;
            double GetMaxSetpointDifference() const;
            double GetMaxIntegralEffort() const;
            double GetOutputRampRate() const;
            double GetOutputFilter() const;
            double GetContinuousInputEnabled() const;
            bool GetReversed() const;
 
        private:
            // Declare public methods.
 
            void CheckGainSigns();
 
            // Declare private member variables.
 
            double m_dKp;                        // Proportional gain.
            double m_dKi;                        // Integral gain.
            double m_dKd;                        // Derivative gain.
            double m_dKff;                       // Feedforward gain.
            double m_dSetpoint;                  // Current control setpoint.
            double m_dErrorSum;                  // Error accumulation.
            double m_dMaxIError;                 // Max allowed error.
            double m_dMaxIEffort;                // Max integral calculated term effort.
            double m_dMinEffort;                 // Min output of the PID controller.
            double m_dMaxEffort;                 // Max output of the PID controller.
            double m_dLastError;                 // The previous error from the setpoint, used to calculate the D term.
            double m_dOutputRampRate;            // The max rate of change of the controller output.
            double m_dLastControlOutput;         // The previous control output of the controller.
            double m_dTolerance;                 // The max allowable error from the setpoint for the controller to be considered at the setpoint.
            double m_dOutputFilter;              // Strength of an exponential rolling sum filter. Used to reduce sharp oscillations.
            double m_dMaxSetpointDifference;     // Limit on how far the setpoint can be from the current position.
            double m_dMinimumContinuousInput;    // The minimum wraparound value of the input for the controller.
            double m_dMaximumContinuousInput;    // The maximum wraparound value of the input for the controller.
            bool m_bControllerIsContinuous;      // Whether of not the controller is working with a circular position range. Good for setpoints that use degrees.
            bool m_bFirstCalculation;            // Whether or not this is the first iteration of the control loop.
            bool m_bReversed;                    // Operating direction of the controller.
    };
}    // namespace controllers
#endif