#ifndef PID_H
#define PID_H

class PID {
public:
    PID(float kp, float ki, float kd);

    void setTunings(float kp, float ki, float kd);
    void setOutputLimits(float min, float max);
    void setSampleTime(int sampleTime);

    void reset();

    float compute(float setpoint, float input);

private:
    float kp;
    float ki;
    float kd;

    float minOutput;
    float maxOutput;
    float lastOutput;

    int sampleTime;
    unsigned long lastTime;

    float integral;
    float lastInput;
};

#endif