Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
PID_Cntrl.h@9:074f4f94b584, 2019-09-20 (annotated)
- Committer:
- pmic
- Date:
- Fri Sep 20 09:26:23 2019 +0000
- Revision:
- 9:074f4f94b584
- Parent:
- 5:d8c53cece01b
- Child:
- 10:447f6a864598
Clean up DT1_Cntrl.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 1:1010530120ce | 1 | #ifndef PID_CNTRL_H_ |
altb | 1:1010530120ce | 2 | #define PID_CNTRL_H_ |
altb | 1:1010530120ce | 3 | |
altb | 0:d49418189c5c | 4 | class PID_Cntrl |
altb | 0:d49418189c5c | 5 | { |
altb | 0:d49418189c5c | 6 | public: |
altb | 0:d49418189c5c | 7 | |
altb | 0:d49418189c5c | 8 | PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax); |
altb | 0:d49418189c5c | 9 | |
altb | 0:d49418189c5c | 10 | float operator()(float error) { |
altb2 | 2:e7c9e50a2e46 | 11 | return doStep(error); |
altb | 0:d49418189c5c | 12 | } |
altb | 0:d49418189c5c | 13 | |
altb | 0:d49418189c5c | 14 | virtual ~PID_Cntrl(); |
altb | 0:d49418189c5c | 15 | |
altb | 0:d49418189c5c | 16 | void reset(float initValue); |
altb2 | 2:e7c9e50a2e46 | 17 | float doStep(float error); |
altb2 | 2:e7c9e50a2e46 | 18 | void set_limits(float ,float ); |
altb | 0:d49418189c5c | 19 | float get_ulimit(void); |
altb2 | 5:d8c53cece01b | 20 | float get_P_gain(void); |
altb2 | 3:27595dd9e433 | 21 | void setCoeff_P(float); |
altb2 | 3:27595dd9e433 | 22 | void setCoeff_I(float); |
altb2 | 3:27595dd9e433 | 23 | void setCoeff_D(float); |
altb2 | 5:d8c53cece01b | 24 | void scale_PID_param(float); |
altb | 0:d49418189c5c | 25 | |
altb | 0:d49418189c5c | 26 | private: |
altb | 0:d49418189c5c | 27 | |
altb2 | 2:e7c9e50a2e46 | 28 | float Iold; |
altb2 | 2:e7c9e50a2e46 | 29 | float eold,yold,del; |
altb2 | 2:e7c9e50a2e46 | 30 | float uMax; |
altb2 | 2:e7c9e50a2e46 | 31 | float uMin; |
altb2 | 3:27595dd9e433 | 32 | float Ts,tau_f; |
altb2 | 2:e7c9e50a2e46 | 33 | float P,I,D_; |
altb2 | 5:d8c53cece01b | 34 | float P_init, I_init, D__init; |
altb2 | 2:e7c9e50a2e46 | 35 | float p, Ka; |
altb | 0:d49418189c5c | 36 | void setCoefficients(float P, float I, float D, float tau_f, float Ts); |
altb | 1:1010530120ce | 37 | }; |
altb | 1:1010530120ce | 38 | |
altb | 1:1010530120ce | 39 | #endif // #PID_CNTRL_H |