pidcontrol.h

00001 #ifndef PidControl_h
00002 #define PidControl_h
00003 
00004 //-----------------------------------------------------------------------------
00005 
00006 /// Simple PID controller class
00007 class PIDControl {
00008 public:
00009     /// Default constructor
00010     PIDControl();
00011 
00012     /// Destructor
00013     virtual ~PIDControl();
00014 
00015     /// Set the Proportional, Integral and Derivative gains
00016     virtual PIDControl & setPIDGains( double pGain, double iGain, double dGain );
00017 
00018     /// Set the lower and upper limits for the integrator
00019     virtual PIDControl & setIntegratorLimits( double iMin, double iMax );
00020     
00021     void setPWMParams( float Period, float PulseWidth );
00022     
00023     /// Update loop
00024     virtual double update( double error, double position );
00025 
00026 private:
00027     double m_dState;    ///< Last position input
00028     double m_iState;    ///< Integrator state
00029     double m_iMax;      ///< Maximum allowable integrator state
00030     double m_iMin;      ///< Minimum allowable integrator state
00031 
00032     double m_iGain;     ///< Integral gain
00033     double m_pGain;     ///< Proportional gain
00034     double m_dGain;     ///< Derivative gain
00035 };
00036 
00037 //-----------------------------------------------------------------------------
00038 
00039 #endif //PidControl_h