Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
PID_Cntrl.h
- Committer:
- altb
- Date:
- 2019-03-04
- Revision:
- 1:1010530120ce
- Parent:
- 0:d49418189c5c
- Child:
- 2:e7c9e50a2e46
File content as of revision 1:1010530120ce:
#ifndef PID_CNTRL_H_ #define PID_CNTRL_H_ 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); }; #endif // #PID_CNTRL_H