请用C++写一个温控算法

以下是一个基于PID控制原理的温控算法的C++代码示例：

#include <iostream>
#include <chrono>
#include <thread>

class PID {
private:
    double kp;
    double ki;
    double kd;
    double setpoint;
    double error;
    double integral;
    double derivative;
    double lastError;
    double output;
    double outputMin;
    double outputMax;
    int sampleTime; // milliseconds
    std::chrono::steady_clock::time_point lastTime;

public:
    PID(double kp, double ki, double kd, double outputMin, double outputMax, int sampleTime) {
        this->kp = kp;
        this->ki = ki;
        this->kd = kd;
        this->setpoint = 0.0;
        this->error = 0.0;
        this->integral = 0.0;
        this->derivative = 0.0;
        this->lastError = 0.0;
        this->output = 0.0;
        this->outputMin = outputMin;
        this->outputMax = outputMax;
        this->sampleTime = sampleTime;
        this->lastTime = std::chrono::steady_clock::now();
    }

    double calculate(double input) {
        std::chrono::steady_clock::time_point now = std::chrono::steady_clock::now();
        int elapsedTime = std::chrono::duration_cast<std::chrono::milliseconds>(now - lastTime).count();
        if (elapsedTime >= sampleTime) {
            error = setpoint - input;
            integral += error;
            derivative = (error - lastError) / (double)elapsedTime;
            output = kp * error + ki * integral + kd * derivative;
            output = std::max(outputMin, std::min(outputMax, output));
            lastError = error;
            lastTime = now;
        }
        return output;
    }

    void setSetpoint(double setpoint) {
        this->setpoint = setpoint;
    }

    double getSetpoint() {
        return setpoint;
    }
};

int main() {
    PID pid(2.0, 1.0, 0.5, 0.0, 100.0, 1000); // example values
    double temperature = 20.0;
    double setpoint = 25.0;
    pid.setSetpoint(setpoint);
    for (int i = 0; i < 10; i++) { // simulate 10 seconds of temperature control
        double output = pid.calculate(temperature);
        temperature += output;
        std::cout << "Temperature: " << temperature << std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }
    return 0;
}

这个算法的思路是：首先创建一个PID对象，然后设置一些参数，如比例常数（kp）、积分常数（ki）、微分常数（kd）、输出范围（outputMin和outputMax）以及采样时间（sampleTime）。然后在一个循环中，获取当前温度值，将其传递给PID算法进行计算，然后将输出值加到温度中。最后，等待一段时间，再次获取温度值，以此类推，直到达到所需的温度控制效果。