Diff: Headers/PID_Control.h

Revision:

0:15a8480061e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Headers/PID_Control.h	Mon May 22 11:24:46 2017 +0000
@@ -0,0 +1,55 @@
+/*
+ * PIDControl.h
+ *
+ *  Created on: 16.04.2017
+ *      Author: chris
+ */
+
+#ifndef COMMON_PID_CONTROL_H_
+#define COMMON_PID_CONTROL_H_
+
+/**
+ * This class calculates a PID control
+ */
+class PID_Control
+{
+public:
+    PID_Control();
+    virtual ~PID_Control();
+
+    float calc(float e, float period);
+    void setPIDValues(float p, float i, float d, float max, float min, float _iMax);
+
+private:
+    /**
+     * the proportional gain
+     */
+    float kp;
+
+    /**
+     * integral gain
+     */
+    float ki;
+
+    /**
+     * differential gain
+     */
+    float kd;
+
+    /**
+     * Sum of all the errors
+     */
+    float iSum;
+
+    /**
+     * Error value one iteration befor
+     */
+    float eOld;
+    
+    float max;
+    float min;
+    float iMax;
+    
+};
+
+#endif /* COMMON_PID_CONTROL_H_ */