RT2_P3_students
/
RT2_P3_students
Lab1
PI_Cntrl.h
- Committer:
- altb
- Date:
- 2018-04-17
- Revision:
- 6:8ed679044a72
- Parent:
- 1:a30512c3ac73
File content as of revision 6:8ed679044a72:
#ifndef PI_CNTRL_H_ #define PI_CNTRL_H_ class PI_Cntrl { public: PI_Cntrl(float Kp, float Tn, float Ts); PI_Cntrl(float Kp, float Tn, float Ts, float uMax); PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin); float operator()(float error) { return doStep((double)error); } virtual ~PI_Cntrl(); void reset(float initValue); float doStep(double error); private: double b0; double b1; double b2; double s; double uMax; double uMin; void setCoefficients(float Kp, float Tn, float Ts); }; #endif // PI_CNTRL_H_