#ifndef __PID_H__
#define __PID_H__

#include "consts.h"

struct PIDConfig
{
  float Kp;
  float Ki;
  float Kd;
};

struct PID
{
  float error;
  float integral;
  float derivative;
  float last_error;
};

class PIDController
{
public:
  static PIDConfig pidConfig;
  static PID pid;
  static void setConfig(float Kp, float Ki, float Kd);
  static float update(float target, float current);
};

#endif