p_pid.hpp

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#ifndef _P_PID_HPP
#define _P_PID_HPP
 
#include <memory>
 
#include "pid.hpp"
 
namespace pid_controller
{
 
struct PositionP_PIDParameter
{
  double k;                         
  double lo;                        
  double hi;                        
  PositionPIDParameter ppid_param;  
};
 
class PositionP_PID
{
private:
  double k, lo, hi;
  PositionPIDParameter ppid_param;
 
  std::shared_ptr<PositionPID> slave_pid_;
 
  double master_out = 0.0;
 
public:
  explicit PositionP_PID(const PositionP_PIDParameter & param_);
 
  double update(
    double current_slave, double current_master, double target_master, double last_saturated);
 
  double get_master_out();
 
  void set_param_offset(double offset);
 
  void reset();
};
 
struct VelocityP_PIDParameter
{
  double k;   
  double lo;  
  double hi;  
  VelocityPIDParameter vpid_param;
};
 
class VelocityP_PID
{
private:
  double k, lo, hi;
  VelocityPIDParameter vpid_param;
 
  std::shared_ptr<VelocityPID> slave_pid_;
 
  double master_out = 0.0;
 
public:
  explicit VelocityP_PID(const VelocityP_PIDParameter & param_);
 
  double update(double current_slave, double current_master, double target_master);
 
  void reset();
 
  void set_param_offset(double offset);
 
  double get_master_out();
 
  std::array<double, 3> get_slave_each_term();
 
  double get_dt();
};
 
}  // namespace pid_controller
 
#endif  // !_P_PID_HPP