pidff.h

#pragma once
#include "../core/include/utils/controls/feedback_base.h"
#include "../core/include/utils/controls/feedforward.h"
#include "../core/include/utils/controls/pid.h"
 
class PIDFF : public Feedback {
public:
  PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg);
 
  void init(double start_pt, double set_pt) override;
 
  void set_target(double set_pt);
 
  double get_target() const;
  double get_sensor_val() const;
  double update(double val) override;
 
  double update(double val, double vel_setpt, double a_setpt = 0);
 
  double get() override;
 
  void set_limits(double lower, double upper) override;
 
  bool is_on_target() override;
 
  void reset();
 
  PID pid;
 
private:
  FeedForward::ff_config_t &ff_cfg;
 
  FeedForward ff;
 
  double out;
  double lower_lim, upper_lim;
};