pid.h

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#ifndef PID_H
#define PID_H
 
 
#include "time_utils.h"
#include "foc_utils.h"
 
class PIDController
{
public:
    PIDController(float P, float I, float D, float ramp, float limit);
    ~PIDController() = default;
 
    float operator() (float error);
 
    float P; 
    float I; 
    float D; 
    float output_ramp; 
    float limit; 
 
protected:
    float integral_prev; 
    float error_prev; 
    unsigned long timestamp_prev; 
    float output_prev;  
};
 
#endif // PID_H