TeamSurface
/
RT2_P3
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Dependencies: mbed
Fork of
RT2_P3_students_G4
by 
RT2_P3_students
Diff: PI_Cntrl.h
- Revision:
- 6:8ed679044a72
- Parent:
- 1:a30512c3ac73
- Child:
- 11:67af6d24c588
diff -r 72982ede2ff6 -r 8ed679044a72 PI_Cntrl.h
--- a/PI_Cntrl.h Tue Apr 17 09:06:47 2018 +0000
+++ b/PI_Cntrl.h Tue Apr 17 11:47:35 2018 +0000
@@ -2,17 +2,35 @@
#define PI_CNTRL_H_
-class PI_Cntrl{
- public:
+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();
- private:
+ 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_
\ No newline at end of file