Create PIDEasy.h

Author: vsjoaopedrovs

libraries/PIDEasy/src/PIDEasy.h

@@ -0,0 +1,24 @@
+#ifndef PIDEASY_H
+#define PIDEASY_H
+
+class PID {
+  public:
+    PID(float kp, float ki, float kd);
+
+    float compute(float error, unsigned long dt);
+    void setWindUP(float min, float max);
+    void setConstrain(int min, int max);
+    void setSmoothingDerivate(float sD);
+    void setDampingFactor(float dF);
+
+  private:
+    float kp, ki, kd;
+    float previous_error;
+    float previous_derivative;
+    float integral;
+    float min_windup, max_windup;
+    float derivative_smoothing, dampingFactor;
+    int min_constrain, max_constrain;
+};
+
+#endif