TeamSurface / Mbed 2 deprecated RT2_P3_students

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Dependencies:   mbed

Fork of RT2_P3_students by RT2_P3_students

PI_Cntrl.cpp

Committer:
Kiwicjam
Date:
2018-04-17
Revision:
4:16f47c056c7c
Parent:
3:769ce5f06d3e

File content as of revision 4:16f47c056c7c:

#include "PI_Cntrl.h"

using namespace std;

PI_Cntrl::PI_Cntrl(float Kp, float Tn){
    this->Kp = Kp;
    this->Tn = Tn;
    
    //...
    
    
    }


PI_Cntrl::~PI_Cntrl() {} 
    
void PI_Cntrl::reset(float initValue) {
//...

}

float PI_Cntrl::doStep(float error){
    
    // P
    return error*this->Kp;
    // -------- Anti-Windup -------- 
    // ...
    // -------- Timeshift --------
    
    
    }