/**
 * adapted from the Arduino PID library
 * 
 * Created on 2020/01/08.
 */

#ifndef ARDUINOPID_H
#define ARDUINOPID_H

#include <stdint.h>

enum PIDCtlMode {
    PID_MANUAL = 0,
    PID_AUTOMATIC = 1,
};

enum PIDDirection {
    PID_DIRECT = 0,
    PID_REVERSE = 1,
};

struct PID {
    /*working variables*/
    uint32_t lastTime;
    float Input, Output, Setpoint;
    float ITerm, lastInput;
    float kp, ki, kd;
    uint32_t SampleTime; //1 sec  = 1000
    float outMin, outMax;
    enum PIDCtlMode ctlMode; // false
    enum PIDDirection controllerDirection;
};

#define PID_DEFAULT() { .SampleTime = 1000, .ctlMode=PID_MANUAL, .controllerDirection=PID_DIRECT }

void PID_Compute(struct PID *self, float Input);

void PID_SetTunings(struct PID *self, float Kp, float Ki, float Kd);

void PID_SetSampleTime(struct PID *self, uint32_t NewSampleTime);

void PID_SetOutputLimits(struct PID *self, float Min, float Max);

void PID_SetCtlMode(struct PID *self, enum PIDCtlMode Mode);

void PID_Initialize(struct PID *self);

void PID_SetSetpoint(struct PID *self, float Setpoint);

void PID_SetControllerDirection(struct PID *self, enum PIDDirection Direction);

#endif //ARDUINOPID_H