Test of pmic GPA with filter
Dependencies: mbed
Fork of nucf446-cuboid-balance1_strong by
PI_Cntrl.h@26:492c7ab05e67, 2018-04-10 (annotated)
- Committer:
- pmic
- Date:
- Tue Apr 10 12:24:57 2018 +0000
- Revision:
- 26:492c7ab05e67
- Parent:
- 15:1e8e90b4e3a1
correct new functinality
Who changed what in which revision?
User | Revision | Line number | New 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 | }; |