/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/control/ServoController.h

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/*
 * ServoController.h
 *
 *  Created on: Jul 10, 2009
 *      Author: mrshah
 */

#ifndef SERVOCONTROLLER_H_
#define SERVOCONTROLLER_H_

#include <jsw.h>

namespace uvsim
{

class ServoController
{
public:
    ServoController (float dSmooth, float windupGaurd, float maxCmd, float minCmd);

    void initialize();

    void update(float cmd, float feedback, float kP, float kI, float kD);
private:
    float m_windupGaurd;
    float m_dSmooth;
    float m_errP, m_errI, m_errD, m_errPPrev;
    timeval m_timePrev, m_timePres;
    double m_dt;
    float m_out;
    float m_cmdM, m_cmdB;

};
}

#endif /* SERVOCONTROLLER_H_ */

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