RT2_Cuboid_demo / Cntrl_Lib

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Fork of Cntrl_Lib by Ruprecht Altenburger

PI_Cntrl.h

Committer:
pmic
Date:
2019-02-07
Revision:
12:c8ec698c53ed
Parent:
0:e2a7d7f91e49

File content as of revision 12:c8ec698c53ed:

class PI_Cntrl
{
public:

    PI_Cntrl(float Kp, float Tn, float Ts);
    PI_Cntrl(float Kp, float Tn, float Ts, float uMax);
    PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin);

    float operator()(float error) {
        return doStep((double)error);
    }

    virtual     ~PI_Cntrl();

    void        reset(float initValue);
    float       doStep(double error);

private:

    double b0;
    double b1;
    double b2;
    double s;
    double uMax;
    double uMin;
    
    void        setCoefficients(float Kp, float Tn, float Ts);

};