#ifndef PID_AutoTune_v0
#define PID_AutoTune_v0
#define LIBRARY_VERSION 0.0.0

class PID_ATune
{

public:
	//commonly used functions **************************************************************************
	PID_ATune(double *, double *); // * Constructor.  links the Autotune to a given PID
	int Runtime();				   // * Similar to the PID Compue function, returns non 0 when done
	void Cancel();				   // * Stops the AutoTune

	void SetOutputStep(double); // * how far above and below the starting value will the output step?
	double GetOutputStep();		//

	void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
	int GetControlType();	  //   or PID.  (0=PI, 1=PID)

	void SetLookbackSec(int); // * how far back are we looking to identify peaks
	int GetLookbackSec();	  //

	void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
	double GetNoiseBand();	   //   this should be acurately set

	double GetKp(); // * once autotune is complete, these functions contain the
	double GetKi(); //   computed tuning parameters.
	double GetKd(); //

private:
	void FinishUp();
	bool isMax, isMin;
	double *input, *output;
	double setpoint;
	double noiseBand;
	int controlType;
	bool running;
	unsigned long peak1, peak2, lastTime;
	int sampleTime;
	int nLookBack;
	int peakType;
	double lastInputs[100];
	double peaks[10];
	int peakCount;
	bool justchanged;
	bool justevaled;
	int initCount;
	double absMax, absMin;
	double oStep;
	double outputStart;
	double Ku, Pu;
};
#endif