tgPIDController.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_PID_CONTROLLER_H
#define TG_PID_CONTROLLER_H

#include "tgBasicController.h"

// Forward declarations
class tgControllable;

class tgPIDController : public tgBasicController
{
public:
                
                struct Config
                {
                                Config(double p = 1.0,
                                                                double i = 0.0,
                                                                double d = 0.0,
                bool tensControl = false,
                                                                double setPoint = 0.0);
                                
                                const double kP;
                                
                                const double kI;
                                
                                const double kD;
                                
                                const double startingSetPoint;
                };
                
    tgPIDController(tgControllable* controllable, tgPIDController::Config config);
    
    virtual ~tgPIDController();
                
                virtual void control(double dt);
                
                virtual void control(double dt, double setPoint, double sensorData);
    
                virtual void setSensorData(double sensorData);
                
                
private:
                double m_sensorData;
                
                double m_prevError;
                
                double m_intError;
                
                const tgPIDController::Config m_config;
};

#endif  // TG_PID_CONTROLLER_H