From 924f9c5f25c7a1448d9ab8efcdbed66b8afcef75 Mon Sep 17 00:00:00 2001
From: Andru Liu <90433630+WallabyLester@users.noreply.github.com>
Date: Tue, 8 Oct 2024 15:52:16 -0700
Subject: [PATCH] Changing code structure to cpp project.

---
 CPP_Implementation/RBF_aPID.cpp        | 39 --------------------------
 CPP_Implementation/apid_controller.cpp | 13 +++++++++
 CPP_Implementation/apid_controller.h   | 16 +++++++++++
 CPP_Implementation/main.cpp            | 17 +++++++++++
 4 files changed, 46 insertions(+), 39 deletions(-)
 delete mode 100644 CPP_Implementation/RBF_aPID.cpp
 create mode 100644 CPP_Implementation/apid_controller.cpp
 create mode 100644 CPP_Implementation/apid_controller.h
 create mode 100644 CPP_Implementation/main.cpp

diff --git a/CPP_Implementation/RBF_aPID.cpp b/CPP_Implementation/RBF_aPID.cpp
deleted file mode 100644
index ae1c409..0000000
--- a/CPP_Implementation/RBF_aPID.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include <iostream>
-#include <cmath>
-
-
-
-class aPIDController {
-public:
-    aPIDController(double kp, double ki, double kd, double dt)
-        : Kp(kp), Ki(ki), Kd(kd), dt(dt), integral(0.0), prev_err(0.0) {}
-
-    double update(double target, double measured_value) {
-        double error = target - measured_value;
-        integral += error * dt;
-        double derivative = (error - prev_err) / dt;
-        prev_err = error;
-
-        return (Kp * error) + (Ki * integral) + (Kd * derivative);
-    }
-
-private:
-    double Kp, Ki, Kd, dt;
-    double integral;
-    double prev_err;
-};
-
-int main() {
-    // PID parameters
-    double Kp = 1.0, Ki = 0.1, Kd = 0.01, dt = 0.1;
-    
-    aPIDController apid(Kp, Ki, Kd, dt);
-
-    double target = 1.0, measured_value = 0.0;
-
-    double control_signal = apid.update(target, measured_value);
-
-    std::cout << "Output: " << control_signal << std::endl;
-    
-    return 0;
-}
diff --git a/CPP_Implementation/apid_controller.cpp b/CPP_Implementation/apid_controller.cpp
new file mode 100644
index 0000000..a61ecb8
--- /dev/null
+++ b/CPP_Implementation/apid_controller.cpp
@@ -0,0 +1,13 @@
+#include "apid_controller.h"
+
+aPIDController::aPIDController(double kp, double ki, double kd, double dt)
+    : Kp(kp), Ki(ki), Kd(kd), dt(dt), integral(0.0), prev_err(0.0) {}
+
+double aPIDController::update(double target, double measured_value) {
+    double error = target - measured_value;
+    integral += error * dt;
+    double derivative = (error - prev_err) / dt;
+    prev_err = error;
+
+    return (Kp * error) + (Ki * integral) + (Kd * derivative);
+}
diff --git a/CPP_Implementation/apid_controller.h b/CPP_Implementation/apid_controller.h
new file mode 100644
index 0000000..7864f55
--- /dev/null
+++ b/CPP_Implementation/apid_controller.h
@@ -0,0 +1,16 @@
+#ifndef APID_CONTROLLER_H
+#define APID_CONTROLLER_H
+
+class aPIDController {
+public:
+    aPIDController(double kp, double ki, double kd, double dt);
+
+    double update(double target, double measured_value);
+
+private:
+    double Kp, Ki, Kd, dt;
+    double integral;  
+    double prev_err;
+};
+
+#endif // APID_CONTROLLER_H
diff --git a/CPP_Implementation/main.cpp b/CPP_Implementation/main.cpp
new file mode 100644
index 0000000..1bc8017
--- /dev/null
+++ b/CPP_Implementation/main.cpp
@@ -0,0 +1,17 @@
+#include <iostream>
+#include "apid_controller.h"
+
+const double Kp = 1.0, Ki = 0.1, Kd = 0.01, dt = 0.1;
+
+int main() {
+    aPIDController apid(Kp, Ki, Kd, dt);
+
+    double target = 1.0;
+    double measured_value = 0.0;
+
+    double control_signal = apid.update(target, measured_value);
+
+    std::cout << "Output: " << control_signal << std::endl;
+
+    return 0;
+}
\ No newline at end of file