RT2_Cuboid_demo / Mbed 2 deprecated nucf446-cuboid-balance1_strong

Cuboid

Dependencies:   mbed

PI_Cntrl.h

Committer:
pmic
Date:
2018-03-22
Revision:
8:d68e177e2571
Parent:
1:2e118d67eeae
Child:
10:a28f393c6716

File content as of revision 8:d68e177e2571:

class PI_Cntrl
{
public:

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

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

    virtual     ~PI_Cntrl();

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

private:

    float Tn;
    float Kp;
    float Ts;
    float uMax;
    float uMin;
    float integralPart;
    float deltaSaturation;

};