altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

Diff: PID_Cntrl.cpp

Revision:
3:27595dd9e433
Parent:
2:e7c9e50a2e46
Child:
5:d8c53cece01b
--- a/PID_Cntrl.cpp	Fri Jun 14 07:05:55 2019 +0000
+++ b/PID_Cntrl.cpp	Fri Jul 05 06:56:49 2019 +0000
@@ -33,6 +33,7 @@
     this->p = 1.0 - Ts/tau_f;
     this->P = P;
     this->I = I;
+    this->tau_f = tau_f;
     this->D_ = D/tau_f;     // modified D, now D is consistent with Matlab PID
     this->Ts = Ts;
     if(P!=0)
@@ -41,6 +42,18 @@
         this->Ka=1.0f;
     
 }
+void PID_Cntrl::setCoeff_P(float P)
+{
+    this->P = P;
+}
+void PID_Cntrl::setCoeff_I(float I)
+{
+    this->I = I;
+}
+void PID_Cntrl::setCoeff_D(float D)
+{
+    this->D_ = D/this->tau_f;
+}
 
 float PID_Cntrl::doStep(float e)
 {