RT2_Cuboid_demo / Mbed 2 deprecated nucf446-cuboid-balance1_strong

Cuboid

Dependencies:   mbed

PI_Cntrl.h@8:d68e177e2571, 2018-03-22 (annotated)

Committer:
pmic
Date:
Thu Mar 22 17:32:37 2018 +0000
Revision:
8:d68e177e2571
Parent:
1:2e118d67eeae
Child:
10:a28f393c6716
one day investigation in bugfixing of the hole software etc. for "austellung 23.03.2018", velocity still not zero while standing, still initial controller from stdl->altb->pmic, an other controller should be developed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 8:d68e177e2571 1 class PI_Cntrl
pmic 8:d68e177e2571 2 {
pmic 8:d68e177e2571 3 public:
pmic 8:d68e177e2571 4
pmic 8:d68e177e2571 5 PI_Cntrl(float Kp, float Tn);
pmic 8:d68e177e2571 6 PI_Cntrl(float Kp, float Tn, float uMax);
pmic 8:d68e177e2571 7 PI_Cntrl(float Kp, float Tn, float uMax, float uMin);
pmic 8:d68e177e2571 8
pmic 8:d68e177e2571 9 float operator()(float error) {
pmic 8:d68e177e2571 10 return doStep(error);
pmic 8:d68e177e2571 11 }
pmic 8:d68e177e2571 12
pmic 8:d68e177e2571 13 virtual ~PI_Cntrl();
pmic 8:d68e177e2571 14
pmic 8:d68e177e2571 15 void reset(float initValue);
pmic 8:d68e177e2571 16 float doStep(float error);
pmic 8:d68e177e2571 17
pmic 8:d68e177e2571 18 private:
pmic 8:d68e177e2571 19
pmic 8:d68e177e2571 20 float Tn;
pmic 8:d68e177e2571 21 float Kp;
pmic 8:d68e177e2571 22 float Ts;
pmic 8:d68e177e2571 23 float uMax;
pmic 8:d68e177e2571 24 float uMin;
pmic 8:d68e177e2571 25 float integralPart;
pmic 8:d68e177e2571 26 float deltaSaturation;
pmic 8:d68e177e2571 27
rtlabor 0:15be70d21d7c 28 };