Diff: controlandadjust.h

Revision:

17:666505754e3f

Parent:

15:a1a29db96f4f

Child:

19:e3585d3c5a85

--- a/controlandadjust.h	Fri Oct 23 12:13:00 2015 +0000
+++ b/controlandadjust.h	Mon Oct 26 12:25:31 2015 +0000
@@ -54,8 +54,9 @@
      *
      *Constructs a controller no don't put () after your controller
      *@param errorband : float Width of the band at of allowable error
+     *@param controlfrequency : float Frequency of the controller in Hz
      */
-    controlandadjust(float errorband);
+    controlandadjust(float errorband, float controlfrequency);
     
     /** P controller
     * @param error1 : float Error from motor 1
@@ -75,7 +76,7 @@
     * @param &error2_int : float Error for the integral from motor 2
     * @return void
     */
-    void PI(float error1, float error2, float Kp, float Ki,float Ts, float &error1_int, float &error2_int);
+    void PI(float error1, float error2, float Kp, float Ki);
 
     /** PID controller
     * @param error1 : float Error from motor 1
@@ -90,8 +91,23 @@
     * @param &error2_prev : float Previous error from motor 2 for the derivative
     * @return void
     */
-    void PID(float error1, float error2, float Kp, float Ki,float Kd,float Ts,
-             float &error1_int, float &error2_int, float &error1_prev, float &error2_prev);
+    void PID(float error1, float error2, float Kp, float Ki, float Kd );
+             
+             /** PID controller with low pass
+    * @param error1 : float Error from motor 1
+    * @param error2 : float Error from motor 2
+    * @param Kp : float Desired value of Kp for your controller
+    * @param Ki : float Desired value of Ki for your controller
+    * @param Kd : float Desired value of Kd for your controller
+    * @param Ts : float Sampling time of your controller (1/Fs)
+    * @param &error1_int : float Error for the integral from motor 1
+    * @param &error2_int : float Error for the integral from motor 2
+    * @param &error1_prev : float Previous error from motor 1 for the derivative
+    * @param &error2_prev : float Previous error from motor 2 for the derivative
+    * @param tau_p : float Value of tau p (for the low pass filter)
+    * @return void
+    */
+    void PIDLowPass(float error1, float error2, float Kp, float Ki,float Kd, float tau_p);
 
     /** Read the PWM signal to motor 1
     * @return PWM signal to motor 1