Cuboid
Dependencies: mbed
Diff: PI_Cntrl.h
- Revision:
- 0:15be70d21d7c
- Child:
- 1:2e118d67eeae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PI_Cntrl.h Wed Jan 10 16:08:07 2018 +0000 @@ -0,0 +1,22 @@ +class PI_Cntrl{ + public: + PI_Cntrl(float a,float b); + PI_Cntrl(float a,float b,float c); + PI_Cntrl(float a,float b,float c,float d); + float operator()(float e){ + return doStep(e); + } + virtual ~PI_Cntrl(); + void reset(float); + float doStep(float); + + private: + + float Tn; + float Kp; + float Ts; + float out_max; + float out_min; + float i_part_old; + float del; +}; \ No newline at end of file