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Dependents: buttoncontrol includeair includeair Oudverslag
Diff: controlandadjust.h
- Revision:
- 2:a1b6930947a9
- Parent:
- 1:ece12a295ce3
- Child:
- 3:8e6dacabe898
--- a/controlandadjust.h Tue Oct 06 12:35:20 2015 +0000
+++ b/controlandadjust.h Tue Oct 06 12:44:50 2015 +0000
@@ -20,7 +20,12 @@
class controlandadjust
{
public:
- controlandadjust();
+///Instantiate the controller
+ controlandadjust(void);
+ /**P controller
+ *@param error1 : Error from motor 1
+ *@param error2 : Error from motor 2
+ *@param Kp : Desired value of Kp for your controller*/
void P(float error1, float error2 ,float Kp );
void PI(float error1, float error2, float Kp, float Ki,float Ts, float &error1_int, float &error2_int);
void PID(float error1, float error2, float Kp, float Ki,float Kd,float Ts,