altb_pmic / Lib_Cntrl

Control Library by altb

Dependents:   My_Libraries IndNav_QK3_T265

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Show/hide line numbers DT1_Cntrl.h Source File

DT1_Cntrl.h

00001 #ifndef DT1_CNTRL_H_
00002 #define DT1_CNTRL_H_
00003 
00004 class DT1_Cntrl
00005 {
00006 public:
00007 
00008     DT1_Cntrl(float D, float tau_f, float Ts, float uMin, float uMax);
00009 
00010     float operator()(float e)
00011     {
00012         return doStep(e);
00013     }
00014 
00015     virtual ~DT1_Cntrl();
00016 
00017     void    reset(float initValue);
00018     float   doStep(float e);
00019     void    set_limits(float uMin, float uMax);
00020     void    setCoeff_D(float D);
00021 
00022 private:
00023 
00024     float   eold, yold;               // signal storage
00025     float   uMax, uMin;               // max and min controll value
00026     float   Ts, tau_f, D, D_init, p;  // internal parameter storage
00027 
00028     void    setCoefficients(float D, float tau_f, float Ts);
00029 };
00030 
00031 #endif      // #DT1_CNTRL_H
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