James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

PeriodicPI.h@6:52686c25e4af, 2016-03-25 (annotated)

Committer:
balsamfir
Date:
Fri Mar 25 15:18:33 2016 +0000
Revision:
6:52686c25e4af
Parent:
5:f655435d0782
Child:
9:62fbb69b612c
Child:
17:47e107f9587b
Commit cuz slow;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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
balsamfir 5:f655435d0782 7
balsamfir 5:f655435d0782 8 class PeriodicPI
balsamfir 5:f655435d0782 9 {
balsamfir 5:f655435d0782 10 public:
balsamfir 5:f655435d0782 11 PeriodicPI(float periodSec, float kP=0, float kI=0);
balsamfir 6:52686c25e4af 12 float Run(float error, float bound);
balsamfir 5:f655435d0782 13 float GetIntegral();
balsamfir 5:f655435d0782 14 float GetOutput();
balsamfir 5:f655435d0782 15
balsamfir 5:f655435d0782 16 float kP;
balsamfir 5:f655435d0782 17 float kI;
balsamfir 5:f655435d0782 18
balsamfir 5:f655435d0782 19 private:
balsamfir 5:f655435d0782 20 float integral;
balsamfir 5:f655435d0782 21 float output;
balsamfir 5:f655435d0782 22 float periodSec;
balsamfir 5:f655435d0782 23
balsamfir 5:f655435d0782 24 };
balsamfir 5:f655435d0782 25
balsamfir 5:f655435d0782 26 #endif // PERIODIC_PI_H