Diff: WheelControl/P.h

Revision:

1:813f4b17ae65

Child:

3:01b5e80d842d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/WheelControl/P.h	Sun Mar 03 00:54:07 2019 +0000
@@ -0,0 +1,59 @@
+//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)/(inMin - inMin))*(outMax-outMin))+outMin; //scales temp to the correct output Limits
+        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