Diff: kontrolPID.cpp

Revision:

0:a400d726fdc6

Child:

2:b37bdc0b8677

diff -r 000000000000 -r a400d726fdc6 kontrolPID.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kontrolPID.cpp	Fri Oct 27 15:16:31 2017 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+#include "kontrolPID.h"
+ float _kP, _kI, _kD;
+ int _interval;
+ short _limit_Min, _limit_Max;
+ float _current_Error, _sum_Error, _delta_Error, _previous_Error;
+ float _controller_Output;
+kontrolPID::kontrolPID(float kP, float kI, float kD,
+                        int interval, 
+                        short limit_Min, short limit_Max){
+    _kP = kP;
+    _kI = kI;
+    _kD = kD;
+    _interval = interval;
+    _limit_Min = limit_Min;
+    _limit_Max = limit_Max;
+}
+ 
+void kontrolPID::resetPID(){
+    _current_Error = 0;
+    _delta_Error = 0;
+    _sum_Error = 0;
+}
+ 
+float kontrolPID::hitungPID(float _process_Value, float _set_Point){
+    _current_Error = _set_Point - _process_Value;
+    _delta_Error = _current_Error - _previous_Error;
+    _sum_Error = _current_Error + _previous_Error;
+    
+    _controller_Output = _kP * _current_Error + _kI * _sum_Error * _interval + _kD * _delta_Error / _interval;
+    
+    if (_limit_Max < _controller_Output){
+        _controller_Output = _limit_Max;
+    }
+    else if (_limit_Min > _controller_Output){
+        _controller_Output = _limit_Min;
+    }
+    
+    _previous_Error = _current_Error;
+    
+    return _controller_Output;
+}
+        
\ No newline at end of file