altb_pmic
Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: PID_Cntrl.h
- Revision:
- 0:d49418189c5c
- Child:
- 1:1010530120ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_Cntrl.h Mon Mar 04 11:03:08 2019 +0000
@@ -0,0 +1,29 @@
+class PID_Cntrl
+{
+public:
+
+ PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
+
+ float operator()(float error) {
+ return doStep((double)error);
+ }
+
+ virtual ~PID_Cntrl();
+
+ void reset(float initValue);
+ float doStep(double error);
+ void set_limits(double ,double );
+ float get_ulimit(void);
+
+private:
+
+ double Iold;
+ double eold,yold,del;
+ double uMax;
+ double uMin;
+ double Ts;
+ double P,I,D;
+ double p, Ka;
+ void setCoefficients(float P, float I, float D, float tau_f, float Ts);
+
+};
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