altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

PID_Cntrl.h@9:074f4f94b584, 2019-09-20 (annotated)

Committer:
pmic
Date:
Fri Sep 20 09:26:23 2019 +0000
Revision:
9:074f4f94b584
Parent:
5:d8c53cece01b
Child:
10:447f6a864598
Clean up DT1_Cntrl.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 1:1010530120ce 1 #ifndef PID_CNTRL_H_
altb 1:1010530120ce 2 #define PID_CNTRL_H_
altb 1:1010530120ce 3
altb 0:d49418189c5c 4 class PID_Cntrl
altb 0:d49418189c5c 5 {
altb 0:d49418189c5c 6 public:
altb 0:d49418189c5c 7
altb 0:d49418189c5c 8 PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
altb 0:d49418189c5c 9
altb 0:d49418189c5c 10 float operator()(float error) {
altb2 2:e7c9e50a2e46 11 return doStep(error);
altb 0:d49418189c5c 12 }
altb 0:d49418189c5c 13
altb 0:d49418189c5c 14 virtual ~PID_Cntrl();
altb 0:d49418189c5c 15
altb 0:d49418189c5c 16 void reset(float initValue);
altb2 2:e7c9e50a2e46 17 float doStep(float error);
altb2 2:e7c9e50a2e46 18 void set_limits(float ,float );
altb 0:d49418189c5c 19 float get_ulimit(void);
altb2 5:d8c53cece01b 20 float get_P_gain(void);
altb2 3:27595dd9e433 21 void setCoeff_P(float);
altb2 3:27595dd9e433 22 void setCoeff_I(float);
altb2 3:27595dd9e433 23 void setCoeff_D(float);
altb2 5:d8c53cece01b 24 void scale_PID_param(float);
altb 0:d49418189c5c 25
altb 0:d49418189c5c 26 private:
altb 0:d49418189c5c 27
altb2 2:e7c9e50a2e46 28 float Iold;
altb2 2:e7c9e50a2e46 29 float eold,yold,del;
altb2 2:e7c9e50a2e46 30 float uMax;
altb2 2:e7c9e50a2e46 31 float uMin;
altb2 3:27595dd9e433 32 float Ts,tau_f;
altb2 2:e7c9e50a2e46 33 float P,I,D_;
altb2 5:d8c53cece01b 34 float P_init, I_init, D__init;
altb2 2:e7c9e50a2e46 35 float p, Ka;
altb 0:d49418189c5c 36 void setCoefficients(float P, float I, float D, float tau_f, float Ts);
altb 1:1010530120ce 37 };
altb 1:1010530120ce 38
altb 1:1010530120ce 39 #endif // #PID_CNTRL_H