altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

PID_Cntrl.h@2:e7c9e50a2e46, 2019-06-14 (annotated)

Committer:
altb2
Date:
Fri Jun 14 07:05:55 2019 +0000
Revision:
2:e7c9e50a2e46
Parent:
1:1010530120ce
Child:
3:27595dd9e433
Changed D-Part, it is now consistent with Matlab (pid)

Who changed what in which revision?

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