Diff: Asservissement/PIDcontroller.h

Revision:

0:b127c787a51b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Asservissement/PIDcontroller.h	Sun May 24 12:30:47 2015 +0000
@@ -0,0 +1,95 @@
+#ifndef PIDcontroller_H
+#define PIDcontroller_H
+
+class PIDcontroller
+{
+    private :
+    float Kp;
+    float Ki;
+    float Kd;
+    
+    float err;
+    float err_old;
+    float err_sum;
+    float consigne;
+    float value;
+    
+    
+    public :
+    
+    PIDcontroller()
+    {
+        Kp = (float)1;
+        Ki = (float)1;
+        Kd = (float)1;
+        err = (float)0;
+        err_old = (float)0;
+        err_sum = (float)0;
+        consigne = (float)0;    
+        value =(float)0;
+    }
+    
+    PIDcontroller(float Kp, float Ki, float Kd)
+    {
+        this->Kp = Kp;
+        this->Ki = Ki;
+        this->Kd = Kd;
+        err = (float)0;
+        err_old = (float)0;
+        err_sum = (float)0;
+        consigne = (float)0;        
+        value = (float)0;
+    }
+    
+    ~PIDcontroller()
+    {
+        
+    }
+        
+    void reset()
+    {
+        err_old = (float)0;
+        err_sum = (float)0;
+    }
+    void setConsigne(float consigne)
+    {
+        this->consigne = consigne;
+    }
+    
+    float update(float currentValue, float dt = (float)0.1)
+    {
+        err = consigne - currentValue;
+        err_sum = err_sum + err;
+        float err_diff = err-err_old;
+        err_old = err;   
+        
+        value = Kp*(err + Ki*err_sum + Kd*err_diff/dt);
+        
+        return value;
+    }
+    
+    void setKp(float Kp)
+    {
+        this->Kp = Kp;
+    }
+    
+    void setKi(float Ki)
+    {
+        this->Ki = Ki;
+    }
+    
+    void setKd(float Kd)
+    {
+        this->Kd = Kd;
+    }
+    
+    void set(float Kp, float Ki,float Kd)
+    {
+        setKp(Kp);
+        setKi(Ki);
+        setKd(Kd);
+    }
+    
+};
+
+#endif