altb_pmic / Mbed 2 deprecated GRT_VC_PIDT1_musterloesung

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Dependencies:   mbed

PID_Cntrl.h@1:314e2e3727f2, 2019-05-07 (annotated)

Committer:
altb2
Date:
Tue May 07 10:22:30 2019 +0000
Revision:
1:314e2e3727f2
Parent:
0:4ed9a8952ddc
Child:
3:477db0d9895e
My Musterloesung (not tested)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 1:314e2e3727f2 1 #ifndef PID_CNTRL_H_
altb2 1:314e2e3727f2 2 #define PID_CNTRL_H_
altb2 1:314e2e3727f2 3
altb2 1:314e2e3727f2 4 // PID Controller Class (Template)
altb2 0:4ed9a8952ddc 5 class PID_Cntrl
altb2 0:4ed9a8952ddc 6 {
altb2 0:4ed9a8952ddc 7 public:
altb2 0:4ed9a8952ddc 8
altb2 0:4ed9a8952ddc 9 PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
altb2 0:4ed9a8952ddc 10
altb2 0:4ed9a8952ddc 11 float operator()(float error) {
altb2 1:314e2e3727f2 12 return update((double)error);
altb2 0:4ed9a8952ddc 13 }
altb2 0:4ed9a8952ddc 14
altb2 0:4ed9a8952ddc 15 virtual ~PID_Cntrl();
altb2 0:4ed9a8952ddc 16
altb2 0:4ed9a8952ddc 17 void reset(float initValue);
altb2 1:314e2e3727f2 18 float update(double error);
altb2 0:4ed9a8952ddc 19
altb2 0:4ed9a8952ddc 20 private:
altb2 1:314e2e3727f2 21 float e_old,D_old,I_old;
altb2 1:314e2e3727f2 22 float tau_f,Ts;
altb2 1:314e2e3727f2 23 float Kp,Ki,Kd;
altb2 1:314e2e3727f2 24 float uMin, uMax;
altb2 1:314e2e3727f2 25 // here some local variables are defined
altb2 1:314e2e3727f2 26 };
altb2 0:4ed9a8952ddc 27
altb2 1:314e2e3727f2 28 #endif