Diff: controlandadjust.h

Revision:

1:ece12a295ce3

Parent:

0:041a12a5b315

Child:

2:a1b6930947a9

--- a/controlandadjust.h	Tue Oct 06 10:58:04 2015 +0000
+++ b/controlandadjust.h	Tue Oct 06 12:35:20 2015 +0000
@@ -4,6 +4,19 @@
 #include "mbed.h"
 #include <string>
 
+/** A library with a P-, PI- and PID-controller, useful for the module biorobotics
+*Example
+*@code
+*#include "mbed.h"
+*#include "controlandadjust.h"
+*#include "QEI.h" //This is found at https://developer.mbed.org/users/aberk/code/QEI/
+*
+*QEI Encoder (D13, D12, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
+*Ticker controlticker;
+*controlandadjust mycontroller; //NO () AT THE END!!
+*AnalogIn pot1(A0);
+*
+*/
 class controlandadjust
 {
 public:
@@ -11,11 +24,13 @@
     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,
-                                   float &error1_int, float &error2_int, float &error1_prev, float &error2_prev);
+             float &error1_int, float &error2_int, float &error1_prev, float &error2_prev);
+    float motor1pwm();
+    float motor2pwm();
 
 private:
-   void verwerksignaal(float , float );
-   
+    void verwerksignaal(float , float );
+
 };
 
 #endif
\ No newline at end of file