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Dependencies: Servo ServoArm mbed
Headers/PID_Control.h
- Committer:
- beacon
- Date:
- 2017-05-22
- Revision:
- 0:15a8480061e8
File content as of revision 0:15a8480061e8:
/* * 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_ */