#ifndef _PID_H_
#define _PID_H_

#include <Arduino.h>
#include "consts.h"

struct PIDConfig
{
  float Kp;
  float Ki;
  float Kd;
  float outputMax;   // 输出限幅
  float outputMin;   // 输出限幅
  float integralMax; // 积分限幅
};

struct PID
{
  float error;
  float last_error;
  float integral;
  float derivative;
  unsigned long lastTime; // 上次更新时间
};

class PIDController
{
public:
  static PID pid;

  static PIDConfig pidConfig;
  static void reset(); // 重置PID状态
  static void setConfig(float Kp, float Ki, float Kd,
                        float outputMax = 255, float outputMin = -255,
                        float integralMax = 1000);
  static float update(float target, float current);
};

#endif