Diff: Controller/controller.hpp

Revision:

10:085ab7328054

Parent:

9:d5fcdcb3c89d

Child:

11:3b241ecb75ed

--- a/Controller/controller.hpp	Fri Oct 20 11:41:22 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,64 +0,0 @@
-#ifndef MBED_DEPTHCONTROLLER_H
-#define MBED_DEPTHCONTROLLER_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); //implement this
-    void setDeadBand(float deadband); //implement this
-    
-protected:
-    float _setPoint;
-    float _Pgain;
-    float _Dgain;
-    float _Igain;
-    
-    float _hiLimit; //these variables clamp the allowable set points 
-    float _loLimit; //these variables clamp the allowable set points 
-    
-    float _error;
-    float _deadband;
-    bool _deadbandFlag;
-    
-    float _integral;
-    float _lastTime;
-    float _dt;
-    
-       
-    float _output;
-    
- //   bool configFlag;
- //   int readConfiguration();
-
-};
-
-template <typename T>
-T clamp(T value, T min, T max)
-{
-    if(value < min) {
-        return min;
-    } else if(value > max) {
-        return max;
-    } else {
-        return value;
-    }
-};
-
-#endif
\ No newline at end of file