#if !defined(AFX_PIDCONTROL_H__346EC08C_C6B0_432C_9B95_223C84A942A3__INCLUDED_)
#define AFX_PIDCONTROL_H__346EC08C_C6B0_432C_9B95_223C84A942A3__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
// PidControl.h : header file
//



/////////////////////////////////////////////////////////////////////////////
// CPidControl command target

class CPidControl : public CCmdTarget
{
	DECLARE_DYNCREATE(CPidControl)

	CPidControl();           // protected constructor used by dynamic creation

// Attributes
public:
	virtual ~CPidControl();

// Operations
public:
	double CalcU( double input,  double reference);

	

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CPidControl)
	//}}AFX_VIRTUAL

// Implementation
protected:

	// Generated message map functions
	//{{AFX_MSG(CPidControl)
		// NOTE - the ClassWizard will add and remove member functions here.
	//}}AFX_MSG

	DECLARE_MESSAGE_MAP()
private:
	double prev_e1;
	double prev_e2;
	double prev_u;
	double kd;
	double ki;
	double kp;
};

/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_PIDCONTROL_H__346EC08C_C6B0_432C_9B95_223C84A942A3__INCLUDED_)