James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

Diff: PeriodicPI.h

Revision:
5:f655435d0782
Child:
6:52686c25e4af
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PeriodicPI.h	Fri Mar 25 13:36:14 2016 +0000
@@ -0,0 +1,26 @@
+#ifndef PERIODIC_PI_H
+#define PERIODIC_PI_H
+
+#include "mbed.h"
+
+
+
+class PeriodicPI
+{
+public:
+    PeriodicPI(float periodSec, float kP=0, float kI=0);
+    float Run(float error, float timeSec, float bound);
+    float GetIntegral();
+    float GetOutput();
+    
+    float kP;
+    float kI;
+
+private:
+    float integral;
+    float output;
+    float periodSec;
+
+};
+
+#endif // PERIODIC_PI_H
\ No newline at end of file