#ifndef _PID_H_
#define _PID_H_

class PID {

 private:
  double Min, Max;
  double Kp; // proportional factor
  double Ki; // integral factor
  double Kd; // derivative factor
  double Integral;
  double PreviousError;
  int64_t PreviousTime;

 public:
  PID(double min, double max, double kp, double kd, double ki);
  ~PID();

  double Update(double target, double value, int64_t time);
  static int64_t getTime(void);
};

#endif