/// <summary>
/// Constructs a new PI controller object
/// </summary>
/// <param name="target">The initial target of the system</param>
/// <param name="sensor">The sensor to read</param>
/// <param name="effector">The effector to adjust the system</param>
/// <param name="kP">The proportional term</param>
/// <param name="kI">The integral term</param>
/// <param name="updateStep">The step width with which we move towards a new setpoint</param>
/// <param name="id">The id of this controller</param>
public PIController(double target, Sensor sensor, Effector effector, double kP, double kI, double updateStep, string id)
{
_sensor = sensor;
_sensor.ValueChanged += ControlLoop;
_effector = effector;
KP = kP;
KI = kI;
UpdateStep = updateStep;
_id = id;
Target = target;
_setPoint = target;
_integralOfError = 0;
//by default don't enforce any limits
//on the controller
MaxSystemValue = double.MaxValue;
MinSystemValue = double.MinValue;
MaxIntegralError = double.MaxValue;
}
/// <summary>
/// Constructs a new DeltaConstrainedPIController object
/// </summary>
/// <param name="target">The initial target of the system</param>
/// <param name="sensor">The main sensor to read</param>
/// <param name="delta">The sensor reporting on the delta of our constraint</param>
/// <param name="effector">The system effector</param>
/// <param name="kP">The proportional constant of our controller</param>
/// <param name="kI">The integral constant of our controller</param>
/// <param name="updateStep">The step width with which we move towards a new setpoint</param>
/// <param name="kpConstraint">The proportional effect of the delta constraint</param>
/// <param name="kIConstraint">The integral effect of the delta constraint</param>
/// <param name="acceptableDelta">The maximum acceptable delta (without effect on controller)</param>
/// <param name="id">The name of the controller</param>
public DeltaConstrainedPIController(double target, Sensor sensor, Sensor delta, Effector effector, double kP,
double kI, double updateStep, double kpConstraint, double kIConstraint, double acceptableDelta, string id)
{
_sensor = sensor;
_sensor.ValueChanged += ControlLoop;
_delta = delta;
_effector = effector;
KP = kP;
KI = kI;
UpdateStep = updateStep;
KPConstraint = kpConstraint;
KIConstraint = kIConstraint;
AcceptableDelta = acceptableDelta;
_id = id;
Target = target;
_setPoint = target;
_integralOfError = 0;
//by default don't enforce any limits
//on the controller
MaxSystemValue = double.MaxValue;
MinSystemValue = double.MinValue;
MaxIntegralError = double.MaxValue;
}