Diff: controller.h

Revision:

11:03d5aa2511c4

Parent:

9:33b99cb45e99

Child:

13:a33a7705fe2b

--- a/controller.h	Tue Jun 24 10:06:54 2014 +0000
+++ b/controller.h	Thu Jun 26 09:15:35 2014 +0000
@@ -6,7 +6,14 @@
 {
 public:
  
-   float  de_v;
+   
+   float de_kp;
+   float de_ip;
+   float de_dp;
+   
+   
+   
+   float  de_output;
  
  
     /*
@@ -46,19 +53,19 @@
     * Reinitializes controller internals. Automatically
     * called on a manual to auto transition.
     */
-    void reset(void);
+ //   void reset(void);
  
     /*
     * Set how fast the PID loop is run.
     * @param interval PID calculation peformed every interval seconds.
     */
-    void setInterval(float interval);
+ //   void setInterval(float interval);
  
     /*
     * Set the bias.
     * @param bias The bias for the controller output.
     */
-    void setBias(float bias);
+//    void setBias(float bias);
  
     /*
     * PID calculation.
@@ -78,18 +85,23 @@
  
 private:
     
-    bool usingFeedForward;
+  //  bool usingFeedForward;
  
     //Actual tuning parameters used in PID calculation.
     float Kc_;
-    float tauR_;
+    float tauI_;
     float tauD_;
+    
+    
+    
+     float pParam_;
+    float iParam_;
+    float dParam_;
+    
+    float accError_;
  
     //Raw tuning parameters.
-    float pParam_;
-    float iParam_;
-    float dParam_;
- 
+   
     //The point we want to reach.
     float setPoint_;
     //The thing we measure.
@@ -104,19 +116,27 @@
     float inMin_;
     float inMax_;
     float inSpan_;
+    
     float outMin_;
+    float outMid_;
     float outMax_;
     float outSpan_;
  
+    float ctrl_Lbound;
+    float ctrl_Ubound;
+ 
+ 
+ 
+ 
     //The accumulated error, i.e. integral.
-    float accError_;
+    //float accError_;
     //The controller output bias.
-    float bias_;
+   // float bias_;
  
     //The interval between samples.
     float tSample_;
  
     //Controller output as a real world value.
-    volatile float realOutput_;
+   // volatile float realOutput_;
  
 };