altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

Diff: PID_Cntrl.h

Revision:
3:27595dd9e433
Parent:
2:e7c9e50a2e46
Child:
5:d8c53cece01b
--- a/PID_Cntrl.h	Fri Jun 14 07:05:55 2019 +0000
+++ b/PID_Cntrl.h	Fri Jul 05 06:56:49 2019 +0000
@@ -18,6 +18,9 @@
     float       doStep(float error);
     void        set_limits(float ,float );
     float       get_ulimit(void);
+    void        setCoeff_P(float);
+    void        setCoeff_I(float);
+    void        setCoeff_D(float);
     
 private:
 
@@ -25,11 +28,10 @@
     float eold,yold,del;
     float uMax;
     float uMin;
-    float Ts;
+    float Ts,tau_f;
     float P,I,D_;
     float p, Ka;
     void setCoefficients(float P, float I, float D, float tau_f, float Ts);
-
 };
 
 #endif      // #PID_CNTRL_H
\ No newline at end of file