pid.h

00001 /**
00002  * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef _PID_H_
00024 #define _PID_H_
00025 
00026 class PIDImpl;
00027 class PID
00028 {
00029     public:
00030         // Kp -  proportional gain
00031         // Ki -  Integral gain
00032         // Kd -  derivative gain
00033         // dt -  loop interval time
00034         // max - maximum value of manipulated variable
00035         // min - minimum value of manipulated variable
00036         PID( double dt, double max, double min, double Kp, double Kd, double Ki );
00037 
00038         // Returns the manipulated variable given a setpoint and current process value
00039         double calculate( double setpoint, double pv );
00040         ~PID();
00041 
00042     private:
00043         PIDImpl *pimpl;
00044 };
00045 
00046 #endif