integral.H

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// This class is to serve in figuring out the integral of a function
// It will operate by being a circular que of a 2 200 element arrays.
// One array will hold the error value and one will hold the sample-hold
// time or the sample time (TBD). Both arrays will be initialized with
// zeroes.

#ifndef CAJUN_STEERING_INTEGRAL
#define CAJUN_STEERING_INTEGRAL

#include <cmath>

using namespace std;

class integral
{
public:
        // Initialize integral queue with all values as zero,

        void initializeIntegral();

        // The function should be sent the new values and will return
        // the old values.

        void pushPullValues(double &error, double &time);
        double get_total_error () { return m_total_error;}

        // Que will keep track of the totals in each category

private:
        double m_errorQue[200];
        double m_timeQue[200];
        int m_queMarker;
        double m_total_error;
};


#endif

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