altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

Diff: PID_Cntrl.h

Revision:
5:d8c53cece01b
Parent:
3:27595dd9e433
Child:
9:074f4f94b584
--- a/PID_Cntrl.h	Fri Jul 05 06:56:49 2019 +0000
+++ b/PID_Cntrl.h	Mon Aug 26 07:07:02 2019 +0000
@@ -18,9 +18,11 @@
     float       doStep(float error);
     void        set_limits(float ,float );
     float       get_ulimit(void);
+    float       get_P_gain(void);
     void        setCoeff_P(float);
     void        setCoeff_I(float);
     void        setCoeff_D(float);
+    void        scale_PID_param(float);
     
 private:
 
@@ -30,6 +32,7 @@
     float uMin;
     float Ts,tau_f;
     float P,I,D_;
+    float P_init, I_init, D__init;
     float p, Ka;
     void setCoefficients(float P, float I, float D, float tau_f, float Ts);
 };