Fertig
Dependencies: mbed
Fork of RT2_P3_students by
PI_Cntrl.h
- Committer:
- Kiwicjam
- Date:
- 2018-05-07
- Revision:
- 13:724759951a6f
- Parent:
- 8:8ed679044a72
File content as of revision 13:724759951a6f:
#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_