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/* Copyright (C) 2013 Ion Torrent Systems, Inc. All Rights Reserved */
//! @file PIDloop.h
//! @ingroup BaseCaller
//! @brief PIDloop. Implementation of PID control loop
#ifndef PIDLOOP_H
#define PIDLOOP_H
class PIDloop
{
public:
//! @brief Default constructor
PIDloop();
//! @brief Constructor
//! @param[in] gainP Proportional gain coefficient
//! @param[in] gainI Integral gain coefficient
//! @param[in] gainD Derivative gain coefficient
//! @param[in] initVal Initial y(t) loop value
PIDloop(const float gainP, const float gainI = 0.0f, const float gainD = 0.0f, const float initVal = 0.0f);
//! @brief Initialize the PID loop to a known starting value
void Initialize(const float initVal = 0.0f);
//! @brief Iterate one time step
//! @param[in] val Next time-ordered sample to filter
//! @return Next time-ordered filtered sample
float Step(const float val);
//! @brief Iterate one time step without input
//! @return Next time-ordered filtered sample (extrapolated)
float Step();
protected:
float kP_;
float kI_;
float kD_;
float yt_;
float dt_; // time between error terms
float et_; // error term e(t)
float st_; // previous step input value
float iVal_; // integral e(t)
float dVal_; // derivative e(t)
const static float kSaturation;
};
#endif // PIDLOOP_H
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