#ifndef PI_CONTROLLER_H
#define PI_CONTROLLER_H

#include "p_controller.h"

class PI_controller : public P_controller
{
    private:
        static constexpr double U_MAX = 100.0;  // %
        static constexpr double U_MIN = -100.0; // %

        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