Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

Diff: pid.h

Revision:
3:f1067b5bb5af
Parent:
0:009e84d7af32
Child:
4:5353c5d0d2ed
diff -r b30a467e90d3 -r f1067b5bb5af pid.h
--- a/pid.h	Mon Oct 29 14:15:57 2018 +0000
+++ b/pid.h	Mon Oct 29 15:27:56 2018 +0000
@@ -1,7 +1,5 @@
 #pragma once
 
-#include "BiQuad.h"
-
 class PID {
 private:
     double Kp, Ki, Kd;
@@ -10,12 +8,16 @@
     double pid_period; // Time between pid updates.
     bool first_update;
     
-    // Filter to make sure the derivative component does not amplify the noise.
-    BiQuad low_pass_filter;
+    // ---- Low Pass Filter variables ----
+    double B[3];
+    double A[2];
+    double wz[2];
 public:
     PID();
     void set_period(double period);
     void set_k_values(double Kp, double Ki, double Kd);
     
     double update(double error);
+    
+    double biquad_step(double x);
 };
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