James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

PeriodicPI.h@19:05b8123905fb, 2017-04-24 (annotated)

Committer:
balsamfir
Date:
Mon Apr 24 21:37:50 2017 +0000
Revision:
19:05b8123905fb
Parent:
17:47e107f9587b 
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Who changed what in which revision?

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balsamfir 5:f655435d0782 1 #ifndef PERIODIC_PI_H
balsamfir 5:f655435d0782 2 #define PERIODIC_PI_H
balsamfir 5:f655435d0782 3
balsamfir 5:f655435d0782 4 #include "mbed.h"
balsamfir 5:f655435d0782 5
balsamfir 5:f655435d0782 6 class PeriodicPI
balsamfir 5:f655435d0782 7 {
balsamfir 5:f655435d0782 8 public:
balsamfir 5:f655435d0782 9 PeriodicPI(float periodSec, float kP=0, float kI=0);
balsamfir 6:52686c25e4af 10 float Run(float error, float bound);
balsamfir 5:f655435d0782 11 float GetIntegral();
balsamfir 5:f655435d0782 12 float GetOutput();
balsamfir 17:47e107f9587b 13 void Reset();
balsamfir 5:f655435d0782 14
balsamfir 5:f655435d0782 15 float kP;
balsamfir 5:f655435d0782 16 float kI;
balsamfir 5:f655435d0782 17
balsamfir 5:f655435d0782 18 private:
balsamfir 5:f655435d0782 19 float integral;
balsamfir 5:f655435d0782 20 float output;
balsamfir 5:f655435d0782 21 float periodSec;
balsamfir 5:f655435d0782 22
balsamfir 5:f655435d0782 23 };
balsamfir 5:f655435d0782 24
balsamfir 5:f655435d0782 25 #endif // PERIODIC_PI_H