#ifndef PI_CONTROLLER_H
#define PI_CONTROLLER_H

#include "controller.h"

class PI_controller : public Controller
{
private:
    double Kp;
    double Ti;
    double T;

    double integral;

public:
    PI_controller(
        double Kp,
        double Ti,
        double T
    );

    double update(double ref, double actual) override;

    void reset() override;
};

#endif