#include <PID_v1.h>
#include <Servo.h>
#include <OneWire.h>
#include <DallasTemperature.h>

#define SERVO 5
#define ONE_WIRE_BUS 4
#define PID_TIME 500
#define TIMER 1000

double kp = 900,
       ki = 1800,
       kd = 112.5;

double input,
       output,
       setpoint;

unsigned long t;

OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensore(&oneWire);

PID myPid(&input, &output, &setpoint, kp, ki, kd, DIRECT);

Servo myServo;

void setup() {
  // put your setup code here, to run once:

  sensore.begin();

  setpoint = 50;
  myPid.SetSampleTime(PID_TIME);
  myPid.SetOutputLimits(0, 180);
  myPid.SetMode(AUTOMATIC);

  myServo.attach(SERVO);
  myServo.write(0);

  t = millis();
}

void loop() {
  // put your main code here, to run repeatedly:

  if(millis() - t > PID_TIME){
    sensore.requestTemperatures();
    input = sensore.getTempCByIndex(0);

    myPid.Compute();

    myServo.write(output);

    t = millis();
  }
  
  
}