Diff: PID.h

Revision:

2:c8ab3e8d4c51

Parent:

1:4705d8930670

Child:

3:c690a8974246

--- a/PID.h	Sun Apr 07 13:52:44 2019 +0000
+++ b/PID.h	Sun Apr 14 14:03:46 2019 +0000
@@ -3,33 +3,49 @@
 
 #include "mbed.h"
 
+typedef enum{
+    pos_PID,
+    vel_PID,
+    P_D,
+    PI_D,
+    I_PD
+} PID_Mode;
 
 class PID {
 public:
-  PID(Timer *_timer);
-  float control(float target, float nowrpm);
-  float PI_lateD(float target, float nowrpm);
-  float control_P(float target, float nowrpm, float new_Kp);
-  float control_PI(float target, float nowrpm);
-  void setParameter_pid(float new_Kp, float new_Ki, float new_Kd);
-  void setParameter_KuPu(float new_Ku, float new_Pu);
-  void reset(float target);
-
-  float Ku;
-  float Pu;
-  float Kp;
-  float Ti;
-  float Td;
-  float Ki;
-  float Kd;
+  PID(double* _Input, double* _Output, double* _Setpoint, double _Kp, double _Ki, double _Kd, PID_Mode _mode, Timer *_timer);
+  void control();
+  void setParameter_pid(double new_Kp, double new_Ki, double new_Kd);
+  void setParameter_KuPu(double new_Ku, double new_Pu);
+  void setPIDMode(PID_Mode);
+  void setOutputLimits(double, double);
+  void reset(double target);
 
 private:
+  void Initialize();
+
+  double Ku;
+  double Pu;
+  double Kp;
+  double Ti;
+  double Td;
+  double Ki;
+  double Kd;
+
   Timer *timer;
-  float integral;
-  float prev_hensa;
-  float nowtime;
-  float prev_time;
-  float lateD;
+
+  double *Input;
+  double *Output;
+  double *Setpoint;
+
+  double lastTime;
+  double outMin, outMax;
+  double lastInput;
+  double lastError;
+  double outputSum;
+  double SampleTime;
+    
+  PID_Mode mode;
 };
 
 #endif