Controller.cpp

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#include "Controller.h"
 
Controller::Controller(const ConfigStore *cs, double Kp, double Ki, double Kd, double Kf, uint16_t dt, double cvMin,
                       double cvMax, double defaultSP, double defaultCV)
    : pid(&pv, &cv, &sp, Kp, Ki, Kd, Kf, dt, cvMin, cvMax, cs->a), cs(*cs), sp(defaultSP), cv(defaultCV) {}
 
void Controller::getTerms(double &pTerm, double &iTerm, double &dTerm) const {
    pTerm = pid.pTerm;
    iTerm = pid.iTerm;
    dTerm = pid.dTerm;
}
 
const ConfigStore *Controller::getConfigStore() {
    return &cs;
}