pidcontroller.ts

export class PIDController {
  #integral = 0;
  #prevError = 0;

  constructor(
    readonly opts: {
      /** setpoint. the target value */
      sp: number;
      // dt: number;
      /** proportional gain */
      kp: number;
      /** integral gain */
      ki: number;
      /** derivative gain */
      kd: number;
    }
  ) {}

  update(val: number, dt = 60) {
    const {kp, ki, kd, sp} = this.opts;

    const error = sp - val;
    const integral = this.#integral + (error * dt);
    const derivative = (error - this.#prevError) / dt;

    const output = (kp * error) + (ki * integral) + (kd * derivative);

    console.log({error, integral, derivative, output, opts: this.opts});

    this.#prevError = error;
    this.#integral = integral;

    return output;
  }
}