WOrking with ramp ref

embedded/lib/HeaveController.hpp

@@ -25,6 +25,11 @@
 #define HEAVE_FF_GAP_MAX  20.0f
 #define HEAVE_FF_GAP_STEP 0.269841f
 
+// ── Reference Ramp ───────────────────────────────────────────
+// Per-update step the active ref moves toward the target. At 200Hz tick
+// rate, 0.001f mm/tick = 0.2 mm/s. Override via constructor.
+#define HEAVE_DEFAULT_RAMP_STEP 0.001f
+
 // ── PID Gains / State ────────────────────────────────────────
 typedef struct HeavePIDGains {
   float kp;
@@ -48,7 +53,8 @@ public:
 
   HeaveController(IndSensorL& f, IndSensorL& b,
                   HeavePIDGains gains, float avgRef,
-                  bool useFeedforward = true);
+                  float rampStep = HEAVE_DEFAULT_RAMP_STEP,
+                  bool useFeedforward = false);
 
   void update();
   void zeroPWMs();
@@ -75,13 +81,16 @@ private:
   HeavePIDGains gains;
   HeavePIDState state;
 
-  float AvgRef;
+  float AvgRef;        // active ref the PID tracks; ramps toward targetRef
+  float targetRef;     // final desired ref (set by updateReference)
+  float rampStep;      // per-update step size for AvgRef → targetRef
   float avg;
 
   int16_t PWM;
   int16_t ffPWM;       // last feedforward value (for debugging/reporting)
   bool fullAttract;
   bool ffEnabled;
+  bool prevPidActive;  // transition detector for seeding AvgRef = avg
 };
 
 #endif // HEAVE_CONTROLLER_HPP