Pascal Sandrez
Simple PID controller class with output clamp
Diff: PIDcontroller.h
- Revision:
- 0:070ecbe87363
- Child:
- 1:946d71f8afc6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDcontroller.h Tue Jul 04 19:21:16 2017 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+
+#ifndef _PIDCONTROLLER_H
+#define _PIDCONTROLLER_H
+
+class PID
+{
+ public:
+
+ PID();
+ void reset(void);
+ void setReference(float ref);
+ void setCoefficients(float Kp, float Ki, float Kd);
+ void setOutputLimits(float min, float max);
+ float processNewValue(float input);
+ float getControllerOutput(void);
+
+ private:
+
+ float target;
+ float kp, ki, kd;
+ float integral,derivative;
+ float error,previous_error;
+ float outputMin,outputMax;
+
+ Timer t;
+};
+
+#endif
\ No newline at end of file