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_
// -----------------------------------------------------------------------------