Dagozilla to RoboCup / PID_buat_test_PID

Buat test_PID

Dependents:   test_PID tune_PID tune_PID

PID.h

Committer:
alienbernamaihsan
Date:
2018-03-06
Revision:
0:9a32bd673e7a

File content as of revision 0:9a32bd673e7a:

#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