{
  "type": "translation_unit",
  "children": [
    {
      "type": "preproc_ifdef",
      "children": [
        {
          "type": "#ifndef",
          "text": "#ifndef"
        },
        {
          "type": "identifier",
          "text": "PIDCONTROLLER_H"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "PIDCONTROLLER_H"
            }
          ]
        },
        {
          "type": "preproc_ifdef",
          "children": [
            {
              "type": "#ifdef",
              "text": "#ifdef"
            },
            {
              "type": "identifier",
              "text": "ENABLE_PID"
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "system_lib_string",
                  "text": "<Component.h>"
                }
              ]
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "string_literal",
                  "children": [
                    {
                      "type": "\"",
                      "text": "\""
                    },
                    {
                      "type": "string_content",
                      "text": "config-modbus.h"
                    },
                    {
                      "type": "\"",
                      "text": "\""
                    }
                  ]
                }
              ]
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "system_lib_string",
                  "text": "<enums.h>"
                }
              ]
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "system_lib_string",
                  "text": "<max6675.h>"
                }
              ]
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "system_lib_string",
                  "text": "<PID_v1.h>"
                },
                {
                  "type": "comment",
                  "text": "// From br3ttb/PID library\r"
                }
              ]
            },
            {
              "type": "preproc_include",
              "children": [
                {
                  "type": "#include",
                  "text": "#include"
                },
                {
                  "type": "system_lib_string",
                  "text": "<PID_AutoTune_v0.h>"
                },
                {
                  "type": "comment",
                  "text": "// From br3ttb/PID Autotune Library\r"
                }
              ]
            },
            {
              "type": "comment",
              "text": "// Define Autotune Status Enum (aligned with Modbus register)\r"
            },
            {
              "type": "enum_specifier",
              "children": [
                {
                  "type": "enum",
                  "text": "enum"
                },
                {
                  "type": "type_identifier",
                  "text": "AutotuneStatus"
                },
                {
                  "type": ":",
                  "text": ":"
                },
                {
                  "type": "primitive_type",
                  "text": "uint8_t"
                },
                {
                  "type": "enumerator_list",
                  "children": [
                    {
                      "type": "{",
                      "text": "{"
                    },
                    {
                      "type": "enumerator",
                      "children": [
                        {
                          "type": "identifier",
                          "text": "AUTOTUNE_OFF"
                        },
                        {
                          "type": "=",
                          "text": "="
                        },
                        {
                          "type": "number_literal",
                          "text": "0"
                        }
                      ]
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                    {
                      "type": ",",
                      "text": ","
                    },
                    {
                      "type": "enumerator",
                      "children": [
                        {
                          "type": "identifier",
                          "text": "AUTOTUNE_RUNNING"
                        },
                        {
                          "type": "=",
                          "text": "="
                        },
                        {
                          "type": "number_literal",
                          "text": "1"
                        }
                      ]
                    },
                    {
                      "type": ",",
                      "text": ","
                    },
                    {
                      "type": "enumerator",
                      "children": [
                        {
                          "type": "identifier",
                          "text": "AUTOTUNE_FINISHED_OK"
                        },
                        {
                          "type": "=",
                          "text": "="
                        },
                        {
                          "type": "number_literal",
                          "text": "2"
                        }
                      ]
                    },
                    {
                      "type": ",",
                      "text": ","
                    },
                    {
                      "type": "enumerator",
                      "children": [
                        {
                          "type": "identifier",
                          "text": "AUTOTUNE_FAILED"
                        },
                        {
                          "type": "=",
                          "text": "="
                        },
                        {
                          "type": "number_literal",
                          "text": "3"
                        }
                      ]
                    },
                    {
                      "type": "}",
                      "text": "}"
                    }
                  ]
                }
              ]
            },
            {
              "type": ";",
              "text": ";"
            },
            {
              "type": "class_specifier",
              "children": [
                {
                  "type": "class",
                  "text": "class"
                },
                {
                  "type": "type_identifier",
                  "text": "PIDController"
                },
                {
                  "type": "base_class_clause",
                  "children": [
                    {
                      "type": ":",
                      "text": ":"
                    },
                    {
                      "type": "access_specifier",
                      "children": [
                        {
                          "type": "public",
                          "text": "public"
                        }
                      ]
                    },
                    {
                      "type": "type_identifier",
                      "text": "Component"
                    }
                  ]
                },
                {
                  "type": "field_declaration_list",
                  "children": [
                    {
                      "type": "{",
                      "text": "{"
                    },
                    {
                      "type": "access_specifier",
                      "children": [
                        {
                          "type": "public",
                          "text": "public"
                        }
                      ]
                    },
                    {
                      "type": ":",
                      "text": ":"
                    },
                    {
                      "type": "declaration",
                      "children": [
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "identifier",
                              "text": "PIDController"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "uint8_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "id"
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "type_qualifier",
                                      "children": [
                                        {
                                          "type": "const",
                                          "text": "const"
                                        }
                                      ]
                                    },
                                    {
                                      "type": "primitive_type",
                                      "text": "char"
                                    },
                                    {
                                      "type": "pointer_declarator",
                                      "children": [
                                        {
                                          "type": "*",
                                          "text": "*"
                                        },
                                        {
                                          "type": "identifier",
                                          "text": "name"
                                        }
                                      ]
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "int8_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "thermoDO"
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "int8_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "thermoCS"
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "int8_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "thermoCLK"
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "int8_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "outputPin"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "declaration",
                      "children": [
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "destructor_name",
                              "children": [
                                {
                                  "type": "~",
                                  "text": "~"
                                },
                                {
                                  "type": "identifier",
                                  "text": "PIDController"
                                }
                              ]
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "short",
                              "text": "short"
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                          ]
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                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "setup"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "short",
                              "text": "short"
                            }
                          ]
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "loop"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "short",
                              "text": "short"
                            }
                          ]
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "mb_tcp_read"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "sized_type_specifier",
                                      "children": [
                                        {
                                          "type": "short",
                                          "text": "short"
                                        }
                                      ]
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "address"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "short",
                              "text": "short"
                            }
                          ]
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "mb_tcp_write"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "sized_type_specifier",
                                      "children": [
                                        {
                                          "type": "short",
                                          "text": "short"
                                        }
                                      ]
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "address"
                                    }
                                  ]
                                },
                                {
                                  "type": ",",
                                  "text": ","
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "sized_type_specifier",
                                      "children": [
                                        {
                                          "type": "short",
                                          "text": "short"
                                        }
                                      ]
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "value"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "mb_tcp_register"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "type_identifier",
                                      "text": "ModbusTCP"
                                    },
                                    {
                                      "type": "pointer_declarator",
                                      "children": [
                                        {
                                          "type": "*",
                                          "text": "*"
                                        },
                                        {
                                          "type": "identifier",
                                          "text": "manager"
                                        }
                                      ]
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "access_specifier",
                      "children": [
                        {
                          "type": "private",
                          "text": "private"
                        }
                      ]
                    },
                    {
                      "type": ":",
                      "text": ":"
                    },
                    {
                      "type": "comment",
                      "text": "// MAX6675 Thermocouple Sensor\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "type_identifier",
                          "text": "MAX6675"
                        },
                        {
                          "type": "field_identifier",
                          "text": "thermocouple"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "int8_t"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_thermoDO"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_thermoCS"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_thermoCLK"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// PID Controller\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_setpoint"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_input"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_output"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_kp"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_ki"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_kd"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "type_identifier",
                          "text": "PID"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_pid"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// PID Autotune\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "type_identifier",
                          "text": "PID_ATune"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_aTune"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "bool"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_autotuning"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "type_identifier",
                          "text": "AutotuneStatus"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_autotuneStatus"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_aTuneStartValue"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// Where the output was when AT started\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_aTuneNoiseBand"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "unsigned",
                              "text": "unsigned"
                            },
                            {
                              "type": "primitive_type",
                              "text": "int"
                            }
                          ]
                        },
                        {
                          "type": "field_identifier",
                          "text": "_aTuneLookbackSec"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_lastKp"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_lastKi"
                        },
                        {
                          "type": ",",
                          "text": ","
                        },
                        {
                          "type": "field_identifier",
                          "text": "_lastKd"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// Store results from autotune\r"
                    },
                    {
                      "type": "comment",
                      "text": "// Output Control\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "int8_t"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_outputPin"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "unsigned",
                              "text": "unsigned"
                            },
                            {
                              "type": "long",
                              "text": "long"
                            }
                          ]
                        },
                        {
                          "type": "field_identifier",
                          "text": "_windowStartTime"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "type_qualifier",
                          "children": [
                            {
                              "type": "const",
                              "text": "const"
                            }
                          ]
                        },
                        {
                          "type": "sized_type_specifier",
                          "children": [
                            {
                              "type": "unsigned",
                              "text": "unsigned"
                            },
                            {
                              "type": "long",
                              "text": "long"
                            }
                          ]
                        },
                        {
                          "type": "field_identifier",
                          "text": "_windowSize"
                        },
                        {
                          "type": "=",
                          "text": "="
                        },
                        {
                          "type": "number_literal",
                          "text": "1000"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// PID cycle time (e.g., 1 second)\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "bool"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_pidModeAuto"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// true = AUTO, false = MANUAL\r"
                    },
                    {
                      "type": "comment",
                      "text": "// Helper methods\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "updateTemperature"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "runAutotune"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "applyOutput"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "setPIDMode"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "bool"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "autoMode"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "startAutotune"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "cancelAutotune"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "void"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "finishAutotune"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "bool"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "success"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "double"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "scalePIDParam"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "uint16_t"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "modbusValue"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "uint16_t"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "unscalePIDParam"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": "parameter_declaration",
                                  "children": [
                                    {
                                      "type": "primitive_type",
                                      "text": "double"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "pidValue"
                                    }
                                  ]
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            }
                          ]
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "comment",
                      "text": "// Error handling\r"
                    },
                    {
                      "type": "field_declaration",
                      "children": [
                        {
                          "type": "primitive_type",
                          "text": "bool"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_sensorError"
                        },
                        {
                          "type": ";",
                          "text": ";"
                        }
                      ]
                    },
                    {
                      "type": "}",
                      "text": "}"
                    }
                  ]
                }
              ]
            },
            {
              "type": ";",
              "text": ";"
            },
            {
              "type": "#endif",
              "text": "#endif"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// ENABLE_PID\r"
        },
        {
          "type": "#endif",
          "text": "#endif"
        }
      ]
    },
    {
      "type": "comment",
      "text": "// PIDCONTROLLER_H "
    }
  ]
}