PID controllers hierarchy revision

src/Logic/PIDController.hpp

@@ -0,0 +1,46 @@
+// This is a personal academic project. Dear PVS-Studio, please check it.
+// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+
+#include "Motor/BrushedMotor.hpp"
+#include "SavedPidRegulator.hpp"
+#include "esp_log.h"
+
+
+class PIDController : public SavedPidRegulator {
+public:
+    PIDController(float p, float i, float d, BrushedMotor *rotor,
+                  const char *name = "PID", uint16_t dt = 10)
+            : SavedPidRegulator(p, i, d, name, dt) {
+        assert(rotor != nullptr);
+        _rotor = rotor;
+        this->_dt = dt;
+        setLimits(0, _rotor->maxDuty());
+        _pid_timer = millis();
+        ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", name, Kp, Ki, Kd);
+    }
+
+    void enable() {
+        _rotor->enable();
+    }
+
+    void disable() {
+        _rotor->disable();
+    }
+
+    void tick() {
+        if (millis() - _pid_timer >= _dt) {
+            _rotor->setDuty((uint32_t) getResultTimer());
+            _pid_timer = millis();
+        }
+    }
+
+    void setRotorDuty(uint32_t duty) {
+        /* Used only for test purposes */
+        _rotor->setDuty(duty);
+    }
+
+private:
+    uint16_t _dt;
+    BrushedMotor *_rotor = nullptr;
+    uint32_t _pid_timer = 0;
+};