Test of pmic GPA with filter
Dependencies: mbed
Fork of nucf446-cuboid-balance1_strong by
Diff: PI_Cntrl.h
- Revision:
- 8:d68e177e2571
- Parent:
- 1:2e118d67eeae
- Child:
- 12:93fd84766578
diff -r 87b823282bf0 -r d68e177e2571 PI_Cntrl.h --- a/PI_Cntrl.h Sat Mar 17 08:43:07 2018 +0000 +++ b/PI_Cntrl.h Thu Mar 22 17:32:37 2018 +0000 @@ -1,22 +1,28 @@ -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; +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; + }; \ No newline at end of file