PID.h

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#ifndef HUMIDISTAT_PID_H
#define HUMIDISTAT_PID_H
 
#include <stdint.h>
 
class PID {
private:
    const double &pv; 
    double &cv;       
    const double &sp; 
 
    double Kp, Ki, Kd, Kf; 
    double a;              
    uint16_t dt;           
 
    bool inAuto = false; 
    double lastPv;       
    double lastE;        
    double lastDPV;        
    double integral;     
 
    void init();
 
    double clip(double value) const;
 
public:
    double pTerm = 0, iTerm = 0, dTerm = 0, fTerm = 0; 
    double cvMin, cvMax;                    
 
    PID(const double *pv, double *cv, const double *sp, double Kp, double Ki, double Kd, double Kf, uint16_t dt,
        double cvMin, double cvMax, double a);
 
    bool compute();
 
    void setAuto(bool inAuto);
 
    void setGains(double Kp, double Ki, double Kd, double Kf, uint16_t dt);
};
 
#endif //HUMIDISTAT_PID_H