Library for control puposes
Fork of Cntrl_Lib by
Diff: PID_Cntrl.cpp
- Revision:
- 3:27b75e7dd54a
- Parent:
- 2:1f8ddc46c578
- Child:
- 4:9cf60fa0a579
--- a/PID_Cntrl.cpp Fri Sep 28 12:37:19 2018 +0000 +++ b/PID_Cntrl.cpp Thu Oct 18 05:44:36 2018 +0000 @@ -4,7 +4,7 @@ everything is calculated in double Ts z - 1 - G(s) = P + I ------- + D ------- + G(s) = P + I ------- + D ------- D corresponds Kd/Tf in Matlab-formlism pid(...) z - 1 z - p */ @@ -14,8 +14,8 @@ PID_Cntrl::PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax) { setCoefficients(P, I, D, tau_f, Ts); + this->uMin = (double)uMin; this->uMax = (double)uMax; - this->uMin = (double)uMin; reset(0.0f); } @@ -55,4 +55,14 @@ Iold=Ipart; yold=Dpart; return (float)uc; +} + +void PID_Cntrl::set_limits(double ll, double ul) +{ + this->uMin = (double)ll; + this->uMax = (double)ul; +} +float PID_Cntrl::get_ulimit(void) +{ + return (float)this->uMax; } \ No newline at end of file