Setti inn allar skrár frá Project 3 og bætti við overlay í samræmi við controlloerinn og pin out.

include/pi_controller.h

@@ -0,0 +1,23 @@
+#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;
+
+        void set_Ti(double value) override;
+};
+
+#endif