RT2_Cuboid_demo / Mbed 2 deprecated nucf446-test_GPA

Test of pmic GPA with filter

Dependencies:   mbed

Fork of nucf446-cuboid-balance1_strong by RT2_Cuboid_demo

PI_Cntrl.h@15:1e8e90b4e3a1, 2018-04-04 (annotated)

Committer:
pmic
Date:
Wed Apr 04 13:26:23 2018 +0000
Revision:
15:1e8e90b4e3a1
Parent:
13:186867e79092 
convert PI_Cntrl class to double prescision;

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 12:93fd84766578 5 PI_Cntrl(float Kp, float Tn, float Ts);
pmic 12:93fd84766578 6 PI_Cntrl(float Kp, float Tn, float Ts, float uMax);
pmic 12:93fd84766578 7 PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin);
pmic 8:d68e177e2571 8
pmic 8:d68e177e2571 9 float operator()(float error) {
pmic 15:1e8e90b4e3a1 10 return doStep((double)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 15:1e8e90b4e3a1 16 float doStep(double error);
pmic 8:d68e177e2571 17
pmic 8:d68e177e2571 18 private:
pmic 8:d68e177e2571 19
pmic 15:1e8e90b4e3a1 20 double b0;
pmic 15:1e8e90b4e3a1 21 double b1;
pmic 15:1e8e90b4e3a1 22 double b2;
pmic 15:1e8e90b4e3a1 23 double s;
pmic 15:1e8e90b4e3a1 24 double uMax;
pmic 15:1e8e90b4e3a1 25 double uMin;
pmic 15:1e8e90b4e3a1 26
pmic 15:1e8e90b4e3a1 27 void setCoefficients(float Kp, float Tn, float Ts);
pmic 8:d68e177e2571 28
rtlabor 0:15be70d21d7c 29 };