RT2_P3_students
Lab1
PI_Cntrl.h@18:f844dbc8ea87, 2019-03-06 (annotated)
- Committer:
- altb2
- Date:
- Wed Mar 06 15:23:27 2019 +0000
- Revision:
- 18:f844dbc8ea87
deleted libs
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| altb2 | 18:f844dbc8ea87 | 1 | class PI_Cntrl |
| altb2 | 18:f844dbc8ea87 | 2 | { |
| altb2 | 18:f844dbc8ea87 | 3 | public: |
| altb2 | 18:f844dbc8ea87 | 4 | |
| altb2 | 18:f844dbc8ea87 | 5 | PI_Cntrl(float Kp, float Tn, float Ts); |
| altb2 | 18:f844dbc8ea87 | 6 | PI_Cntrl(float Kp, float Tn, float Ts, float uMax); |
| altb2 | 18:f844dbc8ea87 | 7 | PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin); |
| altb2 | 18:f844dbc8ea87 | 8 | |
| altb2 | 18:f844dbc8ea87 | 9 | float operator()(float error) { |
| altb2 | 18:f844dbc8ea87 | 10 | return doStep((double)error); |
| altb2 | 18:f844dbc8ea87 | 11 | } |
| altb2 | 18:f844dbc8ea87 | 12 | |
| altb2 | 18:f844dbc8ea87 | 13 | virtual ~PI_Cntrl(); |
| altb2 | 18:f844dbc8ea87 | 14 | |
| altb2 | 18:f844dbc8ea87 | 15 | void reset(float initValue); |
| altb2 | 18:f844dbc8ea87 | 16 | float doStep(double error); |
| altb2 | 18:f844dbc8ea87 | 17 | |
| altb2 | 18:f844dbc8ea87 | 18 | private: |
| altb2 | 18:f844dbc8ea87 | 19 | |
| altb2 | 18:f844dbc8ea87 | 20 | double b0; |
| altb2 | 18:f844dbc8ea87 | 21 | double b1; |
| altb2 | 18:f844dbc8ea87 | 22 | double b2; |
| altb2 | 18:f844dbc8ea87 | 23 | double s; |
| altb2 | 18:f844dbc8ea87 | 24 | double uMax; |
| altb2 | 18:f844dbc8ea87 | 25 | double uMin; |
| altb2 | 18:f844dbc8ea87 | 26 | |
| altb2 | 18:f844dbc8ea87 | 27 | void setCoefficients(float Kp, float Tn, float Ts); |
| altb2 | 18:f844dbc8ea87 | 28 | |
| altb2 | 18:f844dbc8ea87 | 29 | }; |