GRT_FS2019_VoiceCoil / Mbed 2 deprecated Cube_Mini_Template

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Dependencies:   mbed QEI MPU6050_2 BLE_API nRF51822 MCP4725 eMPL_MPU6050

PID_Cntrl.cpp

Committer:
BoulusAJ
Date:
2020-05-29
Revision:
17:a821e95aa21c
Parent:
16:762867ba6aaa

File content as of revision 17:a821e95aa21c:

/*  
    PI Controller class with anti windup reset in biquad transposed direct form 2
    see e.g.: https://www.dsprelated.com/freebooks/filters/Four_Direct_Forms.html
    everything is calculated in double
    
                  Tn*s + 1                      
      G(s) = Kp -------------  with s ~ (1 - z^-1)/Ts
                    Ts*s                     
*/

#include "PID_Cntrl.h"

using namespace std;