33 #ifndef PID_HPP_INCLUDED
34 #define PID_HPP_INCLUDED
36 #include "IntegratorDiscrete.hpp"
37 #include "DerivatorDiscrete.hpp"
44 PID(
double kp,
double kd = 0,
double ki = 0);
45 double Update(
double error,
double dt);
46 void SetKp(
double kp);
47 void SetKd(
double kd);
48 void SetKi(
double ki);
51 double GetCurrentValue()
const;
57 double m_kp, m_kd, m_ki;
64 #endif // PID_HPP_INCLUDED