PidController.hpp

00001 #ifndef PIDCONTROLLER_H
00002 #define PIDCONTROLLER_H
00003 
00004 #include "mbed.h"
00005 
00006 class PIDController {
00007 public:
00008     PIDController();
00009     
00010     void update(float position, float velocity, float dt);
00011     float getOutput();
00012     
00013     void setPgain(float gain);
00014     void setIgain(float gain);
00015     void setDgain(float gain);
00016     
00017     void writeSetPoint(float cmd);
00018     
00019     void setHiLimit(float high_limit);
00020     void setLoLimit(float low_limit);
00021     
00022     void toggleDeadBand(bool toggle);
00023     void setDeadBand(float deadband);
00024     
00025     void setHeadingFlag(bool heading_flag);
00026     
00027 protected:
00028     float _setPoint;
00029     float _error;
00030     float _integral;
00031     float _output;
00032 
00033     float _Pgain;
00034     float _Dgain;
00035     float _Igain;
00036     float _hiLimit; //these parameters clamp the allowable output
00037     float _loLimit; //these parameters clamp the allowable output
00038     float _deadband;
00039     bool _deadbandFlag;
00040     bool _headingFlag;
00041     
00042     float _temp_velocity;
00043 };
00044 
00045 #endif