File content as of revision 0:8f5db5085df7:

#ifndef __PIDCONTROLLER__
#define __PIDCONTROLLER__

#include "mbed.h"
#include "Motor.hpp"
#include "FXAS21002.h"
#include "FXOS8700Q.h"
#include "rtos.h"

#define PI 3.141593

#define INITIAL_P 0.452531214933414
#define INITIAL_I 5.45748932024049
#define INITIAL_D 0.000233453623255507
#define INITIAL_N 51.0605584484153

#define ERROR_THRESH    PI/5
#define MINIMUM_CURVE_VELOCITY 19

class PIDController
{
    private:
    
        PwmOut* servo;
        Motor* motor;
        FXAS21002* gyro;
      
        float target_angle;
        float P;
        float I;
        float D;
        float N;
        float e[2];
        float up[2];
        float ui[2];
        float ud[2];
        float u;
        float saved_velocity;
        float gyro_reference;
    
        Ticker pid_trigger; 
        float interrupt_time;
        float Ts;
    
        void PIDTrigger();
    
        void Control();
    
        void RunPID();
        
    public:
        PIDController(Motor* motor, PwmOut* servo, FXAS21002* gyro);
    
        void initializeController();
        // Atach PIDController.
        void PIDAttach();
    
        // Detach PIDController.
        void PIDDetach();
    
        void setInterruptTime(float interrupt_time);
    
        void setPIDConstants(float P, float I, float D, float N);
    
        void setTargetAngle(float target_angle);
    
        void addTargetAngle(float add_angle);
        
        void setGyroReference(float gyro_ref);
        

};

#endif //__PIDCONTROLLER__