.. _program_listing_file_src_LouLib_Controllers_PIDController.hpp:

Program Listing for File PIDController.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Controllers_PIDController.hpp>` (``src/LouLib/Controllers/PIDController.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LOULIB_PIDCONTROLLER_HPP
   #define LOULIB_PIDCONTROLLER_HPP
   
   #include "../Units/Time.hpp"
   
   namespace LouLib {
       namespace Controllers {
   
           class PIDController {
           private:
               double kp;
               double ki;
               double kd;
               double errorTolerance;
               double derivativeTolerance;
               double integratorMin;
               double integratorMax;
               double maxOutput;
               double minOutput;
               double deltaTime;
               double setpoint;
   
               double error;
               double derivative;
               double integral;
   
           public:
   
               PIDController(double _kp, double _ki, double _kd);
   
               void setTolerance(double _errorTolerance, double _derivativeTolerance = (1<<30));
   
               void setIntegratorRange(double _integratorRangeMin, double _integratorRangeMax);
   
               void setOutputRange(double _minOutput, double _maxOutput);
   
               void setDeltaTime(Units::Time _deltaTime);
   
               void setSetpoint(double _setpoint);
   
               bool atSetpoint();
   
               double getOutput();
   
               void update(double measurement);
   
           };
   
       } // LouLib
   } // Controllers
   
   #endif //LOULIB_PIDCONTROLLER_HPP