Diff: WheelControl/P.h

Revision:

4:208f5279143a

Parent:

3:01b5e80d842d

Child:

5:f1613df66ceb

--- a/WheelControl/P.h	Sat Mar 09 14:27:48 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-//CURRENTLY EMPTY BUT I MAY JUST MAKE A NEW CLASS FOR THE P CONTROL
-class P
-{
-    private:
-    float inMin;
-    float inMax;
-    float control;
-    
-    float outMin;
-    float outMax;
-    
-    float gain;
-    
-    
-    public:
-    P(float G)
-    {
-        gain = G;
-        inMin = 0.0f;
-        inMax = 3.3f;
-        outMin = 0.0f;
-        outMax = 1.0f;
-        control = 0;
-    }
-    
-    void setInputLimits(float inMin_, float inMax_)
-    {
-        if (inMin_ > inMax_) {return;} //cant be true can it
-        inMin = inMin_;
-        inMax = inMax_;
-    }
-    
-    void setOutputLimits(float outMin_, float outMax_)
-    {
-        if (outMin_ > outMax_) {return;}
-        outMin = outMin_;
-        outMax = outMax_;
-    }
-    
-    float compute(float curVal_)
-    {
-        float temp = ((control-curVal_)*gain)+curVal_; //amplify difference by gain and add to current value
-        temp = (((temp-inMin)/(inMax - inMin))*(outMax-outMin))+outMin; //scales temp to the correct output Limits
-        if (temp > 1.0f ) {temp = 1.0f;}
-        if (temp < -1.0f) {temp = -1.0f;}
-        return temp; //return the scaled value
-    }
-    
-    void setControl(float wantedVal_)
-    {
-        if (wantedVal_ > inMax) {control = inMax;}
-        else if (wantedVal_ <inMin) {control = inMin;}
-        else {control = wantedVal_;}
-    }
-    
-    float returnControl(void)
-    {
-        return control;
-    }
-    
-};
\ No newline at end of file