#ifndef PIDCONTROLLER_HH
#define PIDCONTROLLER_HH

class PIDController {
    public:
    double Kp;
    double Kd;
    double Ki;
    double Dt;
    double k;
    double error;
    double integral;
    double out_max;
    double out_min;
    double previous_error;
    double prev_setpoint_value;
    bool   integration_enabled;

    PIDController( double kp, double ki, double kd, double omax, double omin, double dt, double tc );
    double getOutput(double setpoint_value, double measured_value);
};

#endif