Diff: DT1_Cntrl.h

Revision:

9:074f4f94b584

Parent:

7:cb1492f4f2c6

diff -r 3a8d1218022c -r 074f4f94b584 DT1_Cntrl.h
--- a/DT1_Cntrl.h	Thu Sep 19 08:51:03 2019 +0000
+++ b/DT1_Cntrl.h	Fri Sep 20 09:26:23 2019 +0000
@@ -1,4 +1,3 @@
-
 #ifndef DT1_CNTRL_H_
 #define DT1_CNTRL_H_
 
@@ -8,27 +7,25 @@
 
     DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax);
 
-    float operator()(float error) {
-        return doStep(error);
+    float operator()(float e)
+    {
+        return doStep(e);
     }
 
-    virtual     ~DT1_Cntrl();
+    virtual ~DT1_Cntrl();
 
-    void        reset(float initValue);
-    float       doStep(float error);
-    void        set_limits(float ,float );
-    void        setCoeff_D(float);
-    
+    void    reset(float initValue);
+    float   doStep(float e);
+    void    set_limits(float uMin, float uMax);
+    void    setCoeff_D(float D);
+
 private:
 
-    float eold,yold;
-    float uMax;
-    float uMin;
-    float Ts,tau_f;
-    float D_;
-    float D__init;
-    float p;
-    void setCoefficients(float D, float tau_f, float Ts);
+    float   eold, yold;               // signal storage
+    float   uMax, uMin;               // max and min controll value
+    float   Ts, tau_f, D, D_init, p;  // internal parameter storage
+
+    void    setCoefficients(float D, float tau_f, float Ts);
 };
 
 #endif      // #DT1_CNTRL_H
\ No newline at end of file