/*
 * control.h
 *
 *  Created on: 24.09.2012
 *      Author: wn
 */

#ifndef CONTROL_H_
#define CONTROL_H_

#include <stdint.h>



class Control {
public:
	Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD);
	float cycle(float vDes, float vCur) volatile;
	float getP() volatile { return m_kP; };
	void setP(float p) volatile { m_kP = p; };
	float getI() volatile { return m_kI; };
	void setI(float i) volatile { m_kI = i; };
	float getD() volatile { return m_kD; };
	void setD(float d) volatile { m_kD = d; };
private:
	float m_rOld;
	float m_eOld;
	float m_eOld2;
	float m_rMin;
	float m_rMax;
	float m_kP;
	float m_kI;
	float m_kD;
};


#endif /* CONTROL_H_ */