James Kiwic
Fertig
Fork of
RT2_P3_students
by 
TeamSurface
PI_Cntrl.cpp@2:d7b497824b17, 2018-04-09 (annotated)
- Committer:
- Kiwicjam
- Date:
- Mon Apr 09 08:04:35 2018 +0000
- Revision:
- 2:d7b497824b17
- Parent:
- 0:78ca29b4c49e
befor import von neuen IFIR und DiffCounter;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| altb | 0:78ca29b4c49e | 1 | #include "PI_Cntrl.h" |
| altb | 0:78ca29b4c49e | 2 | |
| Kiwicjam | 2:d7b497824b17 | 3 | /* |
| altb | 0:78ca29b4c49e | 4 | using namespace std; |
| altb | 0:78ca29b4c49e | 5 | |
| altb | 0:78ca29b4c49e | 6 | PI_Cntrl::PI_Cntrl(float Kp, float Tn){ |
| altb | 0:78ca29b4c49e | 7 | this->Kp = Kp; |
| altb | 0:78ca29b4c49e | 8 | this->Tn = Tn_; |
| altb | 0:78ca29b4c49e | 9 | |
| altb | 0:78ca29b4c49e | 10 | //... |
| altb | 0:78ca29b4c49e | 11 | |
| altb | 0:78ca29b4c49e | 12 | |
| altb | 0:78ca29b4c49e | 13 | } |
| altb | 0:78ca29b4c49e | 14 | |
| altb | 0:78ca29b4c49e | 15 | |
| altb | 0:78ca29b4c49e | 16 | PI_Cntrl::~PI_Cntrl() {} |
| altb | 0:78ca29b4c49e | 17 | |
| altb | 0:78ca29b4c49e | 18 | void PI_Cntrl::reset(float initValue) { |
| altb | 0:78ca29b4c49e | 19 | //... |
| altb | 0:78ca29b4c49e | 20 | |
| altb | 0:78ca29b4c49e | 21 | } |
| altb | 0:78ca29b4c49e | 22 | |
| altb | 0:78ca29b4c49e | 23 | float PI_Cntrl::doStep(float error){ |
| altb | 0:78ca29b4c49e | 24 | |
| altb | 0:78ca29b4c49e | 25 | // ... |
| altb | 0:78ca29b4c49e | 26 | |
| altb | 0:78ca29b4c49e | 27 | // -------- Anti-Windup -------- |
| altb | 0:78ca29b4c49e | 28 | // ... |
| altb | 0:78ca29b4c49e | 29 | // -------- Timeshift -------- |
| altb | 0:78ca29b4c49e | 30 | |
| altb | 0:78ca29b4c49e | 31 | |
| Kiwicjam | 2:d7b497824b17 | 32 | }*/ |