Fertig
Dependencies: mbed
Fork of RT2_P3_students by
PI_Cntrl.h@13:724759951a6f, 2018-05-07 (annotated)
- Committer:
- Kiwicjam
- Date:
- Mon May 07 09:06:54 2018 +0000
- Revision:
- 13:724759951a6f
- Parent:
- 8:8ed679044a72
fertig komentiert
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 1:a30512c3ac73 | 1 | #ifndef PI_CNTRL_H_ |
altb | 1:a30512c3ac73 | 2 | #define PI_CNTRL_H_ |
altb | 1:a30512c3ac73 | 3 | |
altb | 1:a30512c3ac73 | 4 | |
altb | 8:8ed679044a72 | 5 | class PI_Cntrl |
altb | 8:8ed679044a72 | 6 | { |
altb | 8:8ed679044a72 | 7 | public: |
altb | 0:78ca29b4c49e | 8 | |
altb | 8:8ed679044a72 | 9 | PI_Cntrl(float Kp, float Tn, float Ts); |
altb | 8:8ed679044a72 | 10 | PI_Cntrl(float Kp, float Tn, float Ts, float uMax); |
altb | 8:8ed679044a72 | 11 | PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin); |
altb | 0:78ca29b4c49e | 12 | |
altb | 8:8ed679044a72 | 13 | float operator()(float error) { |
altb | 8:8ed679044a72 | 14 | return doStep((double)error); |
altb | 8:8ed679044a72 | 15 | } |
altb | 8:8ed679044a72 | 16 | |
altb | 8:8ed679044a72 | 17 | virtual ~PI_Cntrl(); |
altb | 0:78ca29b4c49e | 18 | |
altb | 8:8ed679044a72 | 19 | void reset(float initValue); |
altb | 8:8ed679044a72 | 20 | float doStep(double error); |
altb | 8:8ed679044a72 | 21 | |
altb | 8:8ed679044a72 | 22 | private: |
altb | 8:8ed679044a72 | 23 | |
altb | 8:8ed679044a72 | 24 | double b0; |
altb | 8:8ed679044a72 | 25 | double b1; |
altb | 8:8ed679044a72 | 26 | double b2; |
altb | 8:8ed679044a72 | 27 | double s; |
altb | 8:8ed679044a72 | 28 | double uMax; |
altb | 8:8ed679044a72 | 29 | double uMin; |
altb | 0:78ca29b4c49e | 30 | |
altb | 8:8ed679044a72 | 31 | void setCoefficients(float Kp, float Tn, float Ts); |
altb | 8:8ed679044a72 | 32 | |
altb | 8:8ed679044a72 | 33 | }; |
altb | 1:a30512c3ac73 | 34 | |
altb | 1:a30512c3ac73 | 35 | |
altb | 1:a30512c3ac73 | 36 | #endif // PI_CNTRL_H_ |