Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: DT1_Cntrl.h
- Revision:
- 9:074f4f94b584
- Parent:
- 7:cb1492f4f2c6
--- a/DT1_Cntrl.h Thu Sep 19 08:51:03 2019 +0000 +++ b/DT1_Cntrl.h Fri Sep 20 09:26:23 2019 +0000 @@ -1,4 +1,3 @@ - #ifndef DT1_CNTRL_H_ #define DT1_CNTRL_H_ @@ -8,27 +7,25 @@ DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax); - float operator()(float error) { - return doStep(error); + float operator()(float e) + { + return doStep(e); } - virtual ~DT1_Cntrl(); + virtual ~DT1_Cntrl(); - void reset(float initValue); - float doStep(float error); - void set_limits(float ,float ); - void setCoeff_D(float); - + void reset(float initValue); + float doStep(float e); + void set_limits(float uMin, float uMax); + void setCoeff_D(float D); + private: - float eold,yold; - float uMax; - float uMin; - float Ts,tau_f; - float D_; - float D__init; - float p; - void setCoefficients(float D, float tau_f, float Ts); + float eold, yold; // signal storage + float uMax, uMin; // max and min controll value + float Ts, tau_f, D, D_init, p; // internal parameter storage + + void setCoefficients(float D, float tau_f, float Ts); }; #endif // #DT1_CNTRL_H \ No newline at end of file