Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
PID_Cntrl.h
- Committer:
- altb2
- Date:
- 2019-07-05
- Revision:
- 3:27595dd9e433
- Parent:
- 2:e7c9e50a2e46
- Child:
- 5:d8c53cece01b
File content as of revision 3:27595dd9e433:
#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(error); } virtual ~PID_Cntrl(); void reset(float initValue); float doStep(float error); void set_limits(float ,float ); float get_ulimit(void); void setCoeff_P(float); void setCoeff_I(float); void setCoeff_D(float); private: float Iold; float eold,yold,del; float uMax; float uMin; float Ts,tau_f; float P,I,D_; float p, Ka; void setCoefficients(float P, float I, float D, float tau_f, float Ts); }; #endif // #PID_CNTRL_H