.. _program_listing_file_src_LouLib_Controllers_TBHController.cpp:

Program Listing for File TBHController.cpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Controllers_TBHController.cpp>` (``src/LouLib/Controllers/TBHController.cpp``)

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

.. code-block:: cpp

   
   #include "TBHController.hpp"
   #include "../Math/MathFunctions.hpp"
   
   namespace LouLib {
       namespace Controllers {
           TBHController::TBHController(double _k) {
               k = _k;
               setpoint = 0;
               maxOutput = 0;
               minOutput = 0;
               deltaTime = 0;
               output = 0;
               tbh = 0;
               prevError = 0;
           }
   
           void TBHController::setSetpoint(double _setpoint) {
               setpoint = _setpoint;
           }
   
           void TBHController::setOutputRange(double _minOutput, double _maxOutput) {
               minOutput = _minOutput;
               maxOutput = _maxOutput;
           }
   
           void TBHController::setDeltaTime(Units::Time _deltaTime) {
               deltaTime = _deltaTime.to(Units::SECOND);
           }
   
           double TBHController::getOutput() {
               return output;
           }
   
           void TBHController::update(double measurement) {
               double error = setpoint - measurement;
   
               output += error * deltaTime * k;
   
               output = Math::clamp(output, minOutput, maxOutput);
   
               if(Math::signum(error) != Math::signum(prevError)){
                   output = 0.5 * (output + tbh);
                   tbh = output;
                   prevError = error;
               }
           }
       } // LouLib
   } // Controllers