Diff: PID_Cntrl.h

Revision:

2:e7c9e50a2e46

Parent:

1:1010530120ce

Child:

3:27595dd9e433

--- a/PID_Cntrl.h	Mon Mar 04 11:26:47 2019 +0000
+++ b/PID_Cntrl.h	Fri Jun 14 07:05:55 2019 +0000
@@ -9,25 +9,25 @@
     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);
+        return doStep(error);
     }
 
     virtual     ~PID_Cntrl();
 
     void        reset(float initValue);
-    float       doStep(double error);
-    void        set_limits(double ,double );
+    float       doStep(float error);
+    void        set_limits(float ,float );
     float       get_ulimit(void);
     
 private:
 
-    double Iold;
-    double eold,yold,del;
-    double uMax;
-    double uMin;
-    double Ts;
-    double P,I,D;
-    double p, Ka;
+    float Iold;
+    float eold,yold,del;
+    float uMax;
+    float uMin;
+    float Ts;
+    float P,I,D_;
+    float p, Ka;
     void setCoefficients(float P, float I, float D, float tau_f, float Ts);
 
 };