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Show/hide line numbers PI_Cntrl.h Source File

PI_Cntrl.h

00001 class PI_Cntrl{
00002      public:
00003                     PI_Cntrl(float a,float b);
00004                     PI_Cntrl(float a,float b,float c);
00005                     PI_Cntrl(float a,float b,float c,float d);
00006          float operator()(float e){
00007          return doStep(e);
00008          }                    
00009         virtual     ~PI_Cntrl();
00010         void        reset(float);
00011         float       doStep(float);
00012     
00013     private:
00014     
00015         float Tn;
00016         float Kp;
00017         float Ts;
00018         float out_max;
00019         float out_min;
00020         float i_part_old;
00021         float del;
00022 };