Diff: PID.h

Revision:

0:9a32bd673e7a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Tue Mar 06 05:05:50 2018 +0000
@@ -0,0 +1,38 @@
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class pid
+{
+public :
+        pid(double p , double i , double d , double _N , double _Ts) ;
+        double createpwm( double setpoint , double feedback ) ;
+    
+private :
+        double Kp ;
+        double Kd ;
+        double Ki ;
+        double N ;
+        double Ts ;
+        double a0;
+        double a1;
+        double a2;
+        double b0;
+        double b1;
+        double b2;
+        double ku1;
+        double ku2;
+        double ke0;
+        double ke1;
+        double ke2;
+        double e2;
+        double e1;
+        double e0;
+        double u2;
+        double u1;
+        double u0; 
+};
+#endif
+
+    
\ No newline at end of file