altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

Diff: PID_Cntrl.h

Revision:
10:447f6a864598
Parent:
9:074f4f94b584
Child:
11:7ea3efaf0469
--- a/PID_Cntrl.h	Fri Sep 20 09:26:23 2019 +0000
+++ b/PID_Cntrl.h	Mon Sep 23 08:59:29 2019 +0000
@@ -10,11 +10,15 @@
     float operator()(float error) {
         return doStep(error);
     }
+    float operator()(float error,float y) {
+        return doStep(error,y);
+    }
 
     virtual     ~PID_Cntrl();
 
     void        reset(float initValue);
     float       doStep(float error);
+    float       doStep(float error,float y);
     void        set_limits(float ,float );
     float       get_ulimit(void);
     float       get_P_gain(void);
@@ -26,7 +30,7 @@
 private:
 
     float Iold;
-    float eold,yold,del;
+    float eold,yold,del,Dpart_old;
     float uMax;
     float uMin;
     float Ts,tau_f;