PIDController.hpp

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#pragma once
#include "SparkBase.hpp"
 
class PIDController
{
private:
    SparkBase &sparkBase; 
 
public:
    explicit PIDController(SparkBase &base);
 
    void SetReference(float setpoint, CtrlType controlType);
 
    void SetFeedbackDevice(uint16_t sensor);
 
    void SetP(uint8_t slot, float p);
 
    void SetI(uint8_t slot, float i);
 
    void SetD(uint8_t slot, float d);
 
    void SetF(uint8_t slot, float f);
 
    void SetIZone(uint8_t slot, float iZone);
 
    void SetDFilter(uint8_t slot, float dFilter);
 
    void SetOutputMin(uint8_t slot, float min);
 
    void SetOutputMax(uint8_t slot, float max);
 
    void SetSmartMotionMaxVelocity(uint8_t slot, float maxVel);
 
    void SetSmartMotionMaxAccel(uint8_t slot, float maxAccel);
 
    void SetSmartMotionMinVelOutput(uint8_t slot, float minVel);
 
    void SetSmartMotionAllowedClosedLoopError(uint8_t slot, float error);
 
    void SetSmartMotionAccelStrategy(uint8_t slot, float strategy);
 
    void SetIMaxAccum(uint8_t slot, float maxAccum);
 
    void SetSlot3Placeholder1(uint8_t slot, float value);
 
    void SetSlot3Placeholder2(uint8_t slot, float value);
 
    void SetSlot3Placeholder3(uint8_t slot, float value);
 
    void SetPositionPIDWrapEnable(bool enable);
 
    void SetPositionPIDMinInput(float minInput);
 
    void SetPositionPIDMaxInput(float maxInput);
 
    // Get PID Parameters
 
    uint16_t GetFeedbackDevice();
 
    float GetP(uint8_t slot);
 
    float GetI(uint8_t slot);
 
    float GetD(uint8_t slot);
 
    float GetF(uint8_t slot);
 
    float GetIZone(uint8_t slot);
 
    float GetDFilter(uint8_t slot);
 
    float GetOutputMin(uint8_t slot);
 
    float GetOutputMax(uint8_t slot);
 
    float GetSmartMotionMaxVelocity(uint8_t slot);
 
    float GetSmartMotionMaxAccel(uint8_t slot);
 
    float GetSmartMotionMinVelOutput(uint8_t slot);
 
    float GetSmartMotionAllowedClosedLoopError(uint8_t slot);
 
    float GetSmartMotionAccelStrategy(uint8_t slot);
 
    float GetIMaxAccum(uint8_t slot);
 
    float GetSlot3Placeholder1(uint8_t slot);
 
    float GetSlot3Placeholder2(uint8_t slot);
 
    float GetSlot3Placeholder3(uint8_t slot);
 
    bool GetPositionPIDWrapEnable();
 
    float GetPositionPIDMinInput();
 
    float GetPositionPIDMaxInput();
};