Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
DT1_Cntrl.h@7:cb1492f4f2c6, 2019-09-18 (annotated)
- Committer:
- altb2
- Date:
- Wed Sep 18 09:56:35 2019 +0000
- Revision:
- 7:cb1492f4f2c6
- Child:
- 9:074f4f94b584
Addet DT1 Controler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 7:cb1492f4f2c6 | 1 | |
altb2 | 7:cb1492f4f2c6 | 2 | #ifndef DT1_CNTRL_H_ |
altb2 | 7:cb1492f4f2c6 | 3 | #define DT1_CNTRL_H_ |
altb2 | 7:cb1492f4f2c6 | 4 | |
altb2 | 7:cb1492f4f2c6 | 5 | class DT1_Cntrl |
altb2 | 7:cb1492f4f2c6 | 6 | { |
altb2 | 7:cb1492f4f2c6 | 7 | public: |
altb2 | 7:cb1492f4f2c6 | 8 | |
altb2 | 7:cb1492f4f2c6 | 9 | DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax); |
altb2 | 7:cb1492f4f2c6 | 10 | |
altb2 | 7:cb1492f4f2c6 | 11 | float operator()(float error) { |
altb2 | 7:cb1492f4f2c6 | 12 | return doStep(error); |
altb2 | 7:cb1492f4f2c6 | 13 | } |
altb2 | 7:cb1492f4f2c6 | 14 | |
altb2 | 7:cb1492f4f2c6 | 15 | virtual ~DT1_Cntrl(); |
altb2 | 7:cb1492f4f2c6 | 16 | |
altb2 | 7:cb1492f4f2c6 | 17 | void reset(float initValue); |
altb2 | 7:cb1492f4f2c6 | 18 | float doStep(float error); |
altb2 | 7:cb1492f4f2c6 | 19 | void set_limits(float ,float ); |
altb2 | 7:cb1492f4f2c6 | 20 | void setCoeff_D(float); |
altb2 | 7:cb1492f4f2c6 | 21 | |
altb2 | 7:cb1492f4f2c6 | 22 | private: |
altb2 | 7:cb1492f4f2c6 | 23 | |
altb2 | 7:cb1492f4f2c6 | 24 | float eold,yold; |
altb2 | 7:cb1492f4f2c6 | 25 | float uMax; |
altb2 | 7:cb1492f4f2c6 | 26 | float uMin; |
altb2 | 7:cb1492f4f2c6 | 27 | float Ts,tau_f; |
altb2 | 7:cb1492f4f2c6 | 28 | float D_; |
altb2 | 7:cb1492f4f2c6 | 29 | float D__init; |
altb2 | 7:cb1492f4f2c6 | 30 | float p; |
altb2 | 7:cb1492f4f2c6 | 31 | void setCoefficients(float D, float tau_f, float Ts); |
altb2 | 7:cb1492f4f2c6 | 32 | }; |
altb2 | 7:cb1492f4f2c6 | 33 | |
altb2 | 7:cb1492f4f2c6 | 34 | #endif // #DT1_CNTRL_H |