control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
PID/PID.h
- Committer:
- annesteenbeek
- Date:
- 2015-10-20
- Revision:
- 83:8fa05f53fc73
- Parent:
- 82:4cc8f9ad3fec
File content as of revision 83:8fa05f53fc73:
#ifndef PID_H #define PID_H class PID{ public: #define MANUAL 0 #define AUTOMATIC 1 #define FORWARD 0 #define REVERSE 1 PID(double*, double*, double*, double, double, double); void SetMode(int Mode); bool Compute(); // returns false when in Manual mode void SetOutputLimits(double, double); void SetSampleTime(double); void SetTunings(double, double, double); void SetDirection(int); double getKp(); double getKi(); double getKd(); private: void Initialize(); int controllerDirection; double SampleTime; double *myInput; // * Pointers to the Input, Output, and Setpoint variables double *myOutput; // This creates a hard link between the variables and the double *mySetpoint; // PID, freeing the user from having to constantly tell us // what these values are. with pointers we'll just know. double error, ITerm, dErr; double lastErr, lastInput; double kp, ki, kd; double outMin, outMax; bool inAuto; }; #endif