#include <iostream>
#include "pid.h"

using namespace std;

// test pid
int main(int argc, char* argv[]) {

// test vars
int n;
double x, y;
double t, dt;
pid bob;

// setup time
t = 0;
dt = 0.1;

// set PID gains and delta time
bob.set(1, 2, 3, dt);

// 10 cycles
for(n = 0; n < 10; n++) {

   // arbitrary input
   x = n + 20;

   // call once per cycle
   y = bob.run(x);

   // show me the money
   cout << t << " " << x << " " << y << endl;
   }
}