most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
PidController/PidController.hpp
- Committer:
- danstrider
- Date:
- 2017-10-23
- Revision:
- 10:085ab7328054
File content as of revision 10:085ab7328054:
#ifndef PIDCONTROLLER_H #define PIDCONTROLLER_H #include "mbed.h" class PIDController { public: PIDController(); void update(float position, float velocity, float dt); float getOutput(); void setPgain(float gain); void setIgain(float gain); void setDgain(float gain); void writeSetPoint(float cmd); void setHiLimit(float limit); void setLoLimit(float limit); void toggleDeadBand(bool toggle); void setDeadBand(float deadband); protected: float _setPoint; float _error; float _integral; float _output; float _Pgain; float _Dgain; float _Igain; float _hiLimit; //these parameters clamp the allowable output float _loLimit; //these parameters clamp the allowable output float _deadband; bool _deadbandFlag; }; #endif