PID controller class

[chandravaran]

Introduces a PIDController class. This is a new feature. Addresses #63 .

Change List

• Provides Pid object, a class for implementing discrete-time pid control.

Upcoming Changes

• Creating an abstract class so various controllers can be derived.

Potential (Long-Term) Future Changes

Testing

This PR draft has yet to be tested.

Questions

How we should proceed in developing the templates for the abstract controller we will have and this class as well.

[bosky2001]

1. Added Vector PID class.
2. Implemented integral windup and PID class.
3. Addressed most style and implementation comments

• [x] Checking dead-band and integral windup implementation
• [x] Adding scalability to Scalar PID class as-well
• [ ] checking styling

[bosky2001]

Separated the classes into different files.

• [ ] Add comments on range implementation
• [ ] Check documentation Documentation attached