pid_classic.cpp

	class PID_classic {
	private:
		float error_bak = 0;
		float error = 0;
		float error_integration = 0;
		float error_derivate = 0;

	public:
		float target =0; // user target value
		float system_feedback = 0; // system sensor
		float system_action = 0;
		float KP = 1;
		float KD = 1;
		float KI = 1;
		float prevent_windump_factor=0.99;

		void act(){

			//backup previous error
			error_bak=error;

			//calculate new error
			error = target - system_feedback;

			//Differentiation error
			error_derivate = error - error_bak;

			//Integration error
			error_integration = error_integration*(prevent_windump_factor) + error;

			//calculate
			system_action = KP * error + KD * error_derivate + KI * error_integration;
		}

	};