altb_pmic
Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: DT1_Cntrl.h
- Revision:
- 7:cb1492f4f2c6
- Child:
- 9:074f4f94b584
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DT1_Cntrl.h Wed Sep 18 09:56:35 2019 +0000
@@ -0,0 +1,34 @@
+
+#ifndef DT1_CNTRL_H_
+#define DT1_CNTRL_H_
+
+class DT1_Cntrl
+{
+public:
+
+ DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax);
+
+ float operator()(float error) {
+ return doStep(error);
+ }
+
+ virtual ~DT1_Cntrl();
+
+ void reset(float initValue);
+ float doStep(float error);
+ void set_limits(float ,float );
+ void setCoeff_D(float);
+
+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);
+};
+
+#endif // #DT1_CNTRL_H
\ No newline at end of file