Library containing essential automation elements with parameters in continuous Laplace domain, and implemented with fixed sample time. This means that "out" member functions should be called using Ticker object.
Dependents: CurrentMeasurement Zavrsni_rad_NXP_cup HC-SR04 Nucleo_SSD1306_DS1302_ESP8266_AM2320_BME280 ... more
Diff: I.h
- Revision:
- 0:3dd7aeceee65
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/I.h Thu Jan 22 11:41:02 2015 +0000 @@ -0,0 +1,30 @@ +#ifndef I_H +#define I_H + +#include "mbed.h" + +/** Transfer function of an integrator. + * G(s) = Y(s) / U(s) = K_I / s + * + * Author(s): TVZ Mechatronics Team + * + */ +class I { + public: + /** Default constructor. + * K_I = 1, sampleTime = 0.1 + */ + I(); + /** Integrator gain and sample time in seconds. */ + I(double K_I, double sampleTime); + /** Update integrator gain and sample time. */ + void setParameters(double K_I, double sampleTime); + /** Calculate the output y. */ + double out(); + /** Set the input u. */ + void in(double u); + private: + double K_I, T_d, y, y_p1, u, u_p1; +}; + +#endif // I_H \ No newline at end of file