altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

PID_Cntrl.h@11:7ea3efaf0469, 2019-10-02 (annotated)

Committer:
altb2
Date:
Wed Oct 02 15:30:32 2019 +0000
Revision:
11:7ea3efaf0469
Parent:
10:447f6a864598
Child:
12:81787539c2cb
added setup parameters

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 }
altb2 10:447f6a864598 13 float operator()(float error,float y) {
altb2 10:447f6a864598 14 return doStep(error,y);
altb2 10:447f6a864598 15 }
altb 0:d49418189c5c 16
altb 0:d49418189c5c 17 virtual ~PID_Cntrl();
altb 0:d49418189c5c 18
altb 0:d49418189c5c 19 void reset(float initValue);
altb2 2:e7c9e50a2e46 20 float doStep(float error);
altb2 10:447f6a864598 21 float doStep(float error,float y);
altb2 2:e7c9e50a2e46 22 void set_limits(float ,float );
altb 0:d49418189c5c 23 float get_ulimit(void);
altb2 5:d8c53cece01b 24 float get_P_gain(void);
altb2 3:27595dd9e433 25 void setCoeff_P(float);
altb2 3:27595dd9e433 26 void setCoeff_I(float);
altb2 3:27595dd9e433 27 void setCoeff_D(float);
altb2 5:d8c53cece01b 28 void scale_PID_param(float);
altb 0:d49418189c5c 29
altb 0:d49418189c5c 30 private:
altb 0:d49418189c5c 31
altb2 2:e7c9e50a2e46 32 float Iold;
altb2 10:447f6a864598 33 float eold,yold,del,Dpart_old;
altb2 2:e7c9e50a2e46 34 float uMax;
altb2 2:e7c9e50a2e46 35 float uMin;
altb2 3:27595dd9e433 36 float Ts,tau_f;
altb2 2:e7c9e50a2e46 37 float P,I,D_;
altb2 5:d8c53cece01b 38 float P_init, I_init, D__init;
altb2 2:e7c9e50a2e46 39 float p, Ka;
altb 0:d49418189c5c 40 void setCoefficients(float P, float I, float D, float tau_f, float Ts);
altb2 11:7ea3efaf0469 41 void setCoefficients(float P, float I, float D, float tau_f, float Ts,float uMin, float uMax);
altb2 11:7ea3efaf0469 42
altb 1:1010530120ce 43 };
altb 1:1010530120ce 44
altb 1:1010530120ce 45 #endif // #PID_CNTRL_H