PID.h

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#pragma once
#include <cmath>
#include <chrono>
 
namespace art
{
    typedef std::chrono::time_point<std::chrono::high_resolution_clock> TimePoint;
 
    class PID
    {
    public:
        PID();
 
        void reset();
 
        void setConstants(double kp, double ki, double kd);
        PID &withConstants(double kp, double ki, double kd);
 
        void setConstants(double kp, double ki, double kd, double ff);
        PID &withConstants(double kp, double ki, double kd, double ff);
 
         double getkp();
         double getki();
         double getkd();
         double getff();
 
        void setIntegralZone(double integralZone);
        PID &withIntegralZone(double integralZone);
 
        void setTimeout(double timeout);
        PID &withTimeout(double timeout);
 
        void setSettleZone(double settleZone);
        PID &withSettleZone(double settleZone);
 
        void setSettleTimeout(double settleTimeout);
        PID &withSettleTimeout(double settleTimeout);
 
        double calculate(double error);
        double calculate(double target, double feedback);
 
        bool isCompleted();
 
        double timePassed();
        double settledTimePassed();
 
        double getProportional();
        double getIntegral();
        double getDerivative();
    private:
        
        double m_error{0};
        double m_prevError{0};
 
        double m_derivative{0};
 
        double m_integral{0};
        double m_integralZone{0};
 
        double m_kp{0};
        double m_ki{0};
        double m_kd{0};
        double m_ff{0};
 
        TimePoint m_startTime;
        double m_timeout{0};
 
        TimePoint m_startSettledTime;
        double m_settleTimeout{0};
        double m_settleZone{0};
    };
    
    
 
 
} // namespace art