pid_steering_motor.hpp

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include "motion_lib/steering_motor_model/base_steering_motor_model.hpp"
 
class PIDSteeringMotor : public SteeringMotorModel {
private:
  double integral_ = 0.0;        // Integral term accumulator
  double previous_error_ = 0.0;  // Previous error for derivative calculation
  rclcpp::Time last_update = rclcpp::Time(0, 0);
 
public:
  PIDSteeringMotor(const common_lib::car_parameters::CarParameters& car_parameters)
      : SteeringMotorModel(car_parameters) {}
 
  double compute_steering_rate(double current_steering, double steering_goal) override;
};