Thijs Rakels / Mbed 2 deprecated NR_method

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Dependencies:   QEI biquadFilter mbed HIDScope

Diff: PID_controler.h

Revision:
2:f68fd7b1c655
Parent:
1:fafea1d00d0c
diff -r fafea1d00d0c -r f68fd7b1c655 PID_controler.h
--- a/PID_controler.h	Thu Nov 01 09:42:53 2018 +0000
+++ b/PID_controler.h	Thu Nov 01 11:13:32 2018 +0000
@@ -1,20 +1,6 @@
-double PID_controller(double error, double Kp, double Ki, double Kd, double Ts)
-{
-    static double error_integral = 0;
-    static double error_prev = error;
-    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
-
-    //proportional part
-    double u_k = Kp * error;
+#ifndef PID_controler
+#define PID_controler
 
-    //Integral part
-    error_integral = error_integral + error * Ts;
-    double u_i = Ki * error_integral;
+    double PID_controller(double error, double Kp, double Ki, double Kd, double Ts);
 
-    // Derivative part
-    double error_derivative = (error - error_prev)/Ts;
-    double filtered_error_derivative = LowPassFilter.step(error_derivative);
-    double u_d = Kd * filtered_error_derivative;
-    error_prev = error;
-    return ((u_k + u_i + u_d)/10000);
-}
\ No newline at end of file
+#endif
\ No newline at end of file