Diff: Controller/controller.cpp

Revision:

10:085ab7328054

Parent:

9:d5fcdcb3c89d

Child:

11:3b241ecb75ed

--- a/Controller/controller.cpp	Fri Oct 20 11:41:22 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-#include "controller.hpp"
-#include "StaticDefs.hpp"
-
-PIDController::PIDController()
-{
-    _integral = 0.0;
-    _lastTime = 0;
-    _loLimit = 0;
-    _hiLimit = 400;
-    _deadbandFlag = false;
-    _deadband = 0.5;
-
-}
-
-void PIDController::update(float position, float velocity, float dt)
-{
-
-    _error = _setPoint - position;
-
-    _integral += (_error*dt);
-
-    _output = _Pgain*_error + _Igain*_integral + _Dgain*velocity ;
-
-    // limiting on output & integral anti-windup
-    if (_output > 1.0) {
-        _output = 1.0;
-        _integral -= _error*dt;  //implement saturation instead of reset
-    } else if (_output  < -1) {
-        _output = -1.0;
-        _integral += _error*dt;  //implement saturation instead of reset
-    }
-
-    //add in some deadband
-    //add a case statement for deadband
-    //add a variable for deadband amount
-    if (_deadbandFlag) {
-        if (abs(_error) < _deadband) {
-            _output = 0.0;
-        }
-    }
-
-}
-
-void PIDController::writeSetPoint(float cmd)
-{
-    _setPoint = cmd;      //<float>(cmd, _loLimit, _hiLimit);
-}
-
-float PIDController::getOutput()
-{
-    return _output;
-}
-
-void PIDController::setPgain(float gain)
-{
-    _Pgain = gain;
-}
-
-void PIDController::setIgain(float gain)
-{
-    _Igain = gain;
-}
-
-void PIDController::setDgain(float gain)
-{
-    _Dgain = gain;
-}
-
-void PIDController::toggleDeadBand(bool toggle)
-{
-    _deadbandFlag = toggle;
-    return;
-}
-void PIDController::setDeadBand(float deadband)
-{
-    _deadband = deadband;
-}
\ No newline at end of file