Diff: P.h

Revision:

4:208f5279143a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/P.h	Sat Mar 23 19:46:09 2019 +0000
@@ -0,0 +1,81 @@
+
+class P
+{
+    private:
+    float inMin;
+    float inMax;
+    
+    float control;
+    
+    float outMin;
+    float outMax;
+    
+    float gain;
+    float prevCA;
+    float controlAction;
+    
+    public:
+    P(float G)
+    {
+        gain = G;
+        outMin = 0.0f;
+        outMax = 1.0f;
+        control = 0;
+    }
+    
+    void setInputLimits(int inMin_, int inMax_)
+    {
+        if (inMin_ > inMax_) {return;} //cant be true can it
+        inMin = inMin_;
+        inMax = inMax_;
+    }
+    
+    void setInMax(float inMax_)
+    {
+        inMax = inMax_;
+    }
+    
+    float returnPrevCA()
+    {
+        return prevCA; 
+    }
+        
+    void setOutputLimits(float outMin_, float outMax_)
+    {
+        if (outMin_ > outMax_) {return;}
+        outMin = outMin_;
+        outMax = outMax_;
+    }
+    
+    float compute(float curVal_)
+    {
+        //if the measured value is greater than the measured amount, then clearly the limits are offfffffffffffffff
+        if (curVal_ > inMax) {inMax=curVal_;}
+        if (curVal_ < inMin) {inMin=curVal_;}
+        controlAction = ((control-curVal_)*gain); //amplify the error by the gain
+        if (controlAction > inMax ) {controlAction = inMax;}
+        if (controlAction < inMin) {controlAction = inMin;}
+        float prevCATemp = prevCA;
+        prevCA = controlAction;
+        controlAction += prevCATemp;
+        return (((controlAction-inMin)/(inMax - inMin))*(outMax-outMin))+outMin; //scales temp to the correct output Limits
+    }
+    
+    void setControl(float wantedVal_)
+    {
+        if (wantedVal_ > inMax) {control = inMax;}
+        else if (wantedVal_ < inMin) {control = inMin;}
+        else {control = wantedVal_;}
+    }
+    
+    float returnControl(void)
+    {
+        return control;
+    }
+    
+    float returnInMax()
+    {
+        return inMax;   
+    }
+    
+};
\ No newline at end of file