Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: PID_Cntrl.h
- Revision:
- 2:e7c9e50a2e46
- Parent:
- 1:1010530120ce
- Child:
- 3:27595dd9e433
diff -r 1010530120ce -r e7c9e50a2e46 PID_Cntrl.h --- 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); };