Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
DT1_Cntrl.h@9:074f4f94b584, 2019-09-20 (annotated)
- Committer:
- pmic
- Date:
- Fri Sep 20 09:26:23 2019 +0000
- Revision:
- 9:074f4f94b584
- Parent:
- 7:cb1492f4f2c6
Clean up DT1_Cntrl.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 7:cb1492f4f2c6 | 1 | #ifndef DT1_CNTRL_H_ |
altb2 | 7:cb1492f4f2c6 | 2 | #define DT1_CNTRL_H_ |
altb2 | 7:cb1492f4f2c6 | 3 | |
altb2 | 7:cb1492f4f2c6 | 4 | class DT1_Cntrl |
altb2 | 7:cb1492f4f2c6 | 5 | { |
altb2 | 7:cb1492f4f2c6 | 6 | public: |
altb2 | 7:cb1492f4f2c6 | 7 | |
altb2 | 7:cb1492f4f2c6 | 8 | DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax); |
altb2 | 7:cb1492f4f2c6 | 9 | |
pmic | 9:074f4f94b584 | 10 | float operator()(float e) |
pmic | 9:074f4f94b584 | 11 | { |
pmic | 9:074f4f94b584 | 12 | return doStep(e); |
altb2 | 7:cb1492f4f2c6 | 13 | } |
altb2 | 7:cb1492f4f2c6 | 14 | |
pmic | 9:074f4f94b584 | 15 | virtual ~DT1_Cntrl(); |
altb2 | 7:cb1492f4f2c6 | 16 | |
pmic | 9:074f4f94b584 | 17 | void reset(float initValue); |
pmic | 9:074f4f94b584 | 18 | float doStep(float e); |
pmic | 9:074f4f94b584 | 19 | void set_limits(float uMin, float uMax); |
pmic | 9:074f4f94b584 | 20 | void setCoeff_D(float D); |
pmic | 9:074f4f94b584 | 21 | |
altb2 | 7:cb1492f4f2c6 | 22 | private: |
altb2 | 7:cb1492f4f2c6 | 23 | |
pmic | 9:074f4f94b584 | 24 | float eold, yold; // signal storage |
pmic | 9:074f4f94b584 | 25 | float uMax, uMin; // max and min controll value |
pmic | 9:074f4f94b584 | 26 | float Ts, tau_f, D, D_init, p; // internal parameter storage |
pmic | 9:074f4f94b584 | 27 | |
pmic | 9:074f4f94b584 | 28 | void setCoefficients(float D, float tau_f, float Ts); |
altb2 | 7:cb1492f4f2c6 | 29 | }; |
altb2 | 7:cb1492f4f2c6 | 30 | |
altb2 | 7:cb1492f4f2c6 | 31 | #endif // #DT1_CNTRL_H |