Test of pmic GPA with filter
Dependencies: mbed
Fork of nucf446-cuboid-balance1_strong by
Diff: PI_Cntrl.h
- Revision:
- 15:1e8e90b4e3a1
- Parent:
- 13:186867e79092
--- a/PI_Cntrl.h Wed Apr 04 12:16:58 2018 +0000 +++ b/PI_Cntrl.h Wed Apr 04 13:26:23 2018 +0000 @@ -7,21 +7,23 @@ PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin); float operator()(float error) { - return doStep(error); + return doStep((double)error); } virtual ~PI_Cntrl(); void reset(float initValue); - float doStep(float error); + float doStep(double error); private: - float b0; - float b1; - float b2; - float s; - float uMax; - float uMin; + double b0; + double b1; + double b2; + double s; + double uMax; + double uMin; + + void setCoefficients(float Kp, float Tn, float Ts); }; \ No newline at end of file