-- Hoogle documentation, generated by Haddock
-- See Hoogle, http://www.haskell.org/hoogle/


-- | PID control loop
--   
--   Please see the README on GitHub at
--   <a>https://github.com/jlamothe/hsPID#readme</a>
@package hsPID
@version 0.1.2


-- | Copyright (C) 2018 Jonathan Lamothe <a>jlamothe1980@gmail.com</a>
--   
--   This program is free software: you can redistribute it and/or modify
--   it under the terms of the GNU Lesser General Public License as
--   published by the Free Software Foundation, either version 3 of the
--   License, or (at your option) any later version.
--   
--   This program is distributed in the hope that it will be useful, but
--   WITHOUT ANY WARRANTY; without even the implied warranty of
--   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
--   Lesser General Public License for more details.
--   
--   You should have received a copy of the GNU Lesser General Public
--   License along with this program. If not, see
--   <a>https://www.gnu.org/licenses/</a>.
module Control.PID

-- | PID control loop settings
data Settings a
Settings :: a -> a -> a -> a -> a -> Bool -> a -> Settings a

-- | the desired setpoint
[_setpoint] :: Settings a -> a

-- | the proportional factor
[_pFactor] :: Settings a -> a

-- | the integral factor
[_iFactor] :: Settings a -> a

-- | the derivative factor
[_dFactor] :: Settings a -> a

-- | the output bias
[_bias] :: Settings a -> a

-- | indicates whether or not the PID output is reversed
[_isReversed] :: Settings a -> Bool

-- | the maximum PID output
[_maxOutput] :: Settings a -> a

-- | PID control loop status
data Status a
Status :: Settings a -> a -> a -> Status a

-- | the PID loop's settings
[_settings] :: Status a -> Settings a

-- | the error on the last run of the PID loop
[_lastError] :: Status a -> a

-- | the accumulated integral (without factor)
[_lastIntegral] :: Status a -> a
setpoint :: forall a_a880. Lens' (Settings a_a880) a_a880
pFactor :: forall a_a880. Lens' (Settings a_a880) a_a880
iFactor :: forall a_a880. Lens' (Settings a_a880) a_a880
dFactor :: forall a_a880. Lens' (Settings a_a880) a_a880
bias :: forall a_a880. Lens' (Settings a_a880) a_a880
isReversed :: forall a_a880. Lens' (Settings a_a880) Bool
maxOutput :: forall a_a880. Lens' (Settings a_a880) a_a880
settings :: forall a_a6U1. Lens' (Status a_a6U1) (Settings a_a6U1)
lastError :: forall a_a6U1. Lens' (Status a_a6U1) a_a6U1
lastIntegral :: forall a_a6U1. Lens' (Status a_a6U1) a_a6U1

-- | the default PID settings (these will probably need tuning)
newSettings :: Fractional a => Settings a

-- | an inital PID state with the default PID settings
newStatus :: Fractional a => Status a

-- | runs the PID loop
run :: (Ord n, Fractional n) => n -> n -> Status n -> (n, Status n)

-- | resets the integral of a PID loop
resetIntegral :: Num n => Status n -> Status n
instance GHC.Show.Show a => GHC.Show.Show (Control.PID.Status a)
instance GHC.Classes.Eq a => GHC.Classes.Eq (Control.PID.Status a)
instance GHC.Show.Show a => GHC.Show.Show (Control.PID.Settings a)
instance GHC.Classes.Eq a => GHC.Classes.Eq (Control.PID.Settings a)