pid.h

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/*
 * pid.h
 * 
 * Created : 11/10/2018
 *  Author : n-is
 *   email : 073bex422.nischal@pcampus.edu.np
 */

#ifndef _PID_H_
#define _PID_H_

#include "pid_algorithms.h"

class PID
{
public:
        PID() { }
        PID(PID_Algorithm *algo) { set_Algorithm(algo); }
        PID(PID &&) = default;
        PID(const PID &) = default;
        PID &operator=(PID &&) = default;
        PID &operator=(const PID &) = default;
        ~PID() { }

        void set_Algorithm(PID_Algorithm *algo) { algo_ = algo; }
        PID_Algorithm * get_Algorithm() { return algo_; }

        float compute_PID(float err, uint32_t dt_millis) {
                return algo_->compute(err, dt_millis);
        }

        void clear() { algo_->clear(); }

private:
        PID_Algorithm *algo_;
};

#endif // !_PID_H_