#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H

#include <stdbool.h>

typedef struct {

    /* Controller gains */
    float Kp;
    float Ki;
    float Kd;

    /* Default controller gains */
    float KpDefault;
    float KiDefault;
    float KdDefault;

    /* Derivative low-pass filter time constant */
    float tau;

    /* Output limits */
    float limMin;
    float limMax;

    /* Integrator limits */
    float limMinInt;
    float limMaxInt;

    /* Sample time (in seconds) */
    float T;

    bool enable;

    /* Controller "memory" */
    float proportional;
    float integrator;
    float prevError;            /* Required for integrator */
    float differentiator;
    float prevMeasurement;        /* Required for differentiator */

    /* Controller output */
    float out;

} PidController;

void pidControllerInit(PidController *pid, float Kp, float Ki, float Kd, float tau, float limMin, float limMax,
                       float limMinInt, float limMaxInt, float T);

float pidControllerUpdate(PidController *pid, float setpoint, float measurement);

#endif //PID_CONTROLLER_H