All modules and core of the app was created

Logic/PID.hpp

@@ -0,0 +1,50 @@
+#include "GyverPID.h"
+#include "Motor/BrushedMotor.hpp"
+#include "Preferences.h"
+#include "esp_log.h"
+#include "mString.h"
+
+class PIDController : public GyverPID {
+  public:
+    PIDController(float p, float i, float d, BrushedMotor *rotor, int rotorNumber = 1, uint16_t dt = 10)
+      : GyverPID(p, i, d, dt) {
+        assert(rotor != nullptr);
+        _rotor = rotor;
+        _rotorNumber = rotorNumber;
+        setLimits(0, _rotor->maxDuty());
+        _preferences.begin((String("r") + String(rotorNumber)).c_str());
+        _loadPreferences(p, i, d);
+        pid_timer = millis();
+        ESP_LOGI(_tag, "PID №%d initialized with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
+    }
+
+    void tick() {
+        if (millis() - pid_timer >= _dt) {
+            _rotor->setDuty(getResultTimer());
+            pid_timer = millis();
+        }
+    }
+
+    void save() {
+        _preferences.putFloat("p", Kp);
+        _preferences.putFloat("i", Ki);
+        _preferences.putFloat("d", Kd);
+        ESP_LOGI(_tag, "PID №%d saved with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
+    }
+
+  private:
+    Preferences _preferences;
+    int _rotorNumber = 1;
+    uint16_t _dt;
+    BrushedMotor *_rotor = nullptr;
+    uint32_t pid_timer = 0;
+    static constexpr const char *_tag = "PIDController";
+
+    void _loadPreferences(float pDefault = 0, float iDefault = 0, float dDefault = 0) {
+        if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
+            Kp = _preferences.getFloat("p", pDefault);
+            Ki = _preferences.getFloat("i", iDefault);
+            Kd = _preferences.getFloat("d", dDefault);
+        }
+    }
+};