Fertig
Dependencies: mbed
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Diff: PI_Cntrl.h
- Revision:
- 8:8ed679044a72
- Parent:
- 1:a30512c3ac73
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