PID Controller for Unreal Angelscript

PIDController.as

struct FPIDController
{
	UPROPERTY(Category = "PID Controller")
	const float ProportionalMultiplier = 1.f;

	UPROPERTY(Category = "PID Controller")
	const float IntegralMultiplier = 0.f;

	UPROPERTY(Category = "PID Controller")
	const float DerivativeMultiplier = 0.f;

	UPROPERTY(Category = "PID Controller")
	const float Bias = 0.f;

	private float LastError = 0.f;
	private float LastIntegral = 0.f;


	float Update(float DesiredValue, float CurrentValue, float DeltaSeconds)
	{
		const float Error = DesiredValue - CurrentValue;
		const float Integral = LastIntegral + Error * DeltaSeconds;
		const float Derivative = (Error - LastError) / DeltaSeconds;
		const float Output = (
			ProportionalMultiplier * Error
			+ IntegralMultiplier * Integral
			+ DerivativeMultiplier * Derivative
			+ Bias
		);
		LastError = Error;
		LastIntegral = Integral;
		return Output;
	}
};