.. _program_listing_file_src_pid.h:

Program Listing for File pid.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_src_pid.h>` (``src/pid.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // BSD 3-Clause License
   //
   // Copyright (c) 2023, Ekumen Inc.
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   // 1. Redistributions of source code must retain the above copyright notice, this
   //    list of conditions and the following disclaimer.
   //
   // 2. Redistributions in binary form must reproduce the above copyright notice,
   //    this list of conditions and the following disclaimer in the documentation
   //    and/or other materials provided with the distribution.
   //
   // 3. Neither the name of the copyright holder nor the names of its
   //    contributors may be used to endorse or promote products derived from
   //    this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   // OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   #pragma once
   
   namespace andino {
   
   class Pid {
    public:
     Pid(int kp, int kd, int ki, int ko, int output_min, int output_max)
         : kp_(kp), kd_(kd), ki_(ki), ko_(ko), output_min_(output_min), output_max_(output_max) {}
   
     void reset(int encoder_count);
   
     bool enabled();
   
     void enable();
   
     void disable();
   
     void compute(int encoder_count, int& computed_output);
   
     void set_setpoint(int setpoint);
   
     void set_tunings(int kp, int kd, int ki, int ko);
   
    private:
     int kp_{0};
     int kd_{0};
     int ki_{0};
     int ko_{0};
   
     int output_min_{0};
     int output_max_{0};
   
     bool enabled_{false};
   
     int setpoint_{0};
     int integral_term_{0};
     long last_encoder_count_{0};
     int last_input_{0};
     long last_output_{0};
   };
   
   }  // namespace andino