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pid.h
00001 #ifndef _PID_H_ 00002 #define _PID_H_ 00003 00004 class PIDImpl; 00005 class PID 00006 { 00007 public: 00008 PID(float dt, float max, float min, float kp, float ki, float kd ); 00009 ~PID(); 00010 float calculate( float setpoint, float pv ); 00011 void testError(float setpoint, float pv); 00012 00013 private: 00014 float dt_; 00015 float max_; 00016 float min_; 00017 float kp_; 00018 float ki_; 00019 float kd_; 00020 float pre_error_; 00021 float integral_; 00022 }; 00023 00024 #endif
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