/*
PDControl.h
(C)2013 kou029w - MIT License
*/
#ifndef PDControl_h
#define PDControl_h

#include <Arduino.h>

class PDControl_c{
  public:
    PDControl_c();
    PDControl_c(int p, int d);
    PDControl_c(int p, int d, float decR);
    int operator()(int input);
    int lastInput;
    int diff;
    int Kp;
    int Kd;
    float diffDecayRate;
};

class FastPDControl_c{
  public:
    FastPDControl_c();
    FastPDControl_c(int p, int d);
    FastPDControl_c(int p, int d, uint8_t hl);
    int operator()(int input);
    int lastInput;
    int diff;
    int Kp;
    int Kd;
    uint8_t diffHalfLife;
  private:
    uint8_t _count;
};

#endif