Diff: pid.h

Revision:

0:845ccddeede5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.h	Mon May 24 14:46:32 2021 +0000
@@ -0,0 +1,46 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef _PID_H_
+#define _PID_H_
+
+class PIDImpl;
+class PID
+{
+    public:
+        // Kp -  proportional gain
+        // Ki -  Integral gain
+        // Kd -  derivative gain
+        // dt -  loop interval time
+        // max - maximum value of manipulated variable
+        // min - minimum value of manipulated variable
+        PID( double dt, double max, double min, double Kp, double Kd, double Ki );
+
+        // Returns the manipulated variable given a setpoint and current process value
+        double calculate( double setpoint, double pv );
+        ~PID();
+
+    private:
+        PIDImpl *pimpl;
+};
+
+#endif