Diff: 06_AttitudeControl/pidAttitudeControl.h

Revision:

10:ea4b90be68dc

diff -r 77bc74e53e21 -r ea4b90be68dc 06_AttitudeControl/pidAttitudeControl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/06_AttitudeControl/pidAttitudeControl.h	Sat Apr 23 10:29:24 2016 +0000
@@ -0,0 +1,35 @@
+#ifndef pidAttitudeControl_H
+#define pidAttitudeControl_H
+
+#include "mbed.h"
+#include "generalFunctions.h"
+#include "config.h"
+
+class pidAttitudeControl
+{    
+public:
+    pidAttitudeControl();
+    void setGains(float kP,float kI, float kD, float kFf);
+    void setTermLimits(float P_min, float P_max, float I_min, float I_max, float D_min, float D_max, float Ff_min, float Ff_max);
+    void setOutputRange(float outMin, float outMax);
+    float calcOutput(float setPoint, float feedback, float servoTime);
+                    
+    float PIDFf_terms[4];    
+    float Summ_term;                    
+                           
+private:
+    float PIDFf_gains[4];
+    float PIDFf_limits[4][2];
+    float output_limits[2];
+    
+    float controlError[2];       
+    
+    float prevSetPoint; //for acceleration
+    float compensatedSetPoint;
+    
+    //float PIDFf_terms[4];    
+    //float Summ_term;
+};
+
+
+#endif
\ No newline at end of file