/**
 * 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 SampleTimeTicks;
  float outMin, outMax;
  enum PIDCtlMode ctlMode; // false
  enum PIDDirection controllerDirection;
};

#define PID_DEFAULT() { .SampleTimeMs = 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 new_sample_time);

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