Diff: PID_Cntrl.h

Revision:

1:314e2e3727f2

Parent:

0:4ed9a8952ddc

Child:

3:477db0d9895e

diff -r 4ed9a8952ddc -r 314e2e3727f2 PID_Cntrl.h
--- a/PID_Cntrl.h	Tue Apr 30 15:34:47 2019 +0000
+++ b/PID_Cntrl.h	Tue May 07 10:22:30 2019 +0000
@@ -1,3 +1,7 @@
+#ifndef PID_CNTRL_H_
+#define PID_CNTRL_H_
+
+// PID Controller Class (Template)
 class PID_Cntrl
 {
 public:
@@ -5,25 +9,20 @@
     PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
 
     float operator()(float error) {
-        return doStep((double)error);
+        return update((double)error);
     }
 
     virtual     ~PID_Cntrl();
 
     void        reset(float initValue);
-    float       doStep(double error);
-    void        set_limits(double ,double );
-    float       get_ulimit(void);
+    float       update(double error);
     
 private:
+    float e_old,D_old,I_old;
+    float tau_f,Ts;
+    float Kp,Ki,Kd;
+    float uMin, uMax;
+    // here some local variables are defined
+};
 
-    double Iold;
-    double eold,yold,del;
-    double uMax;
-    double uMin;
-    double Ts;
-    double P,I,D;
-    double p, Ka;
-    void setCoefficients(float P, float I, float D, float tau_f, float Ts);
-
-};
+#endif
\ No newline at end of file