Diff: PID.h

Revision:

0:2ac3074cfdb3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Tue Aug 27 09:32:17 2013 +0000
@@ -0,0 +1,48 @@
+/* Copyright (c) <2013> MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+ * and associated documentation files (the "Software"), to deal in the Software without restriction, 
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or 
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Nested PID for Quadcopter Control
+ *
+ 
+ */
+ 
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class PIDClass
+{
+
+   public:
+   
+   PIDClass(float AngleKp,float AngleKi, float RateKp, float RateKd);
+   
+   int update(float Setpoint, float CurrentPosition, float Rate, float dt);
+   
+   private:
+   
+        float Angle_Kp,Angle_Ki,Rate_Kp,Rate_Kd;
+        float AngleError,RateError;
+        float Angle_I,Rate_D;
+        int Output,WindUp;
+        float PreviousError;
+
+};
+#endif
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