Diff: controller.h

Revision:

13:a33a7705fe2b

Parent:

11:03d5aa2511c4

--- a/controller.h	Sat Jun 28 05:43:23 2014 +0000
+++ b/controller.h	Sat Jun 28 07:06:54 2014 +0000
@@ -5,17 +5,17 @@
 class PID
 {
 public:
- 
-   
-   float de_kp;
-   float de_ip;
-   float de_dp;
-   
-   
-   
-   float  de_output;
- 
- 
+
+
+    float de_kp;
+    float de_ip;
+    float de_dp;
+
+
+
+    float  de_output;
+
+
     /*
     * Constructeur
     * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
@@ -25,21 +25,21 @@
     * @param interval PID calculation performed every interval seconds.
     */
     PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval);
- 
+
     /*
     * Scale from inputs to 0-100%.
     * @param InMin The real world value corresponding to 0%.
     * @param InMax The real world value corresponding to 100%.
     */
     void setInputLimits(float inMin, float inMax);
- 
+
     /*
     * Scale from outputs to 0-100%.
     * @param outMin The real world value corresponding to 0%.
     * @param outMax The real world value corresponding to 100%.
     */
     void setOutputLimits(float outMin, float outMax);
- 
+
     /*
     * Calculate PID constants.
     * Allows parameters to be changed on the fly without ruining calculations.
@@ -48,31 +48,31 @@
     * @param tauD - Tuning parameter
     */
     void setTunings(float Kc, float tauI, float tauD);
- 
+
     /*
     * 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);
- 
+
     /*
     * PID calculation.
     * @return The controller output as a float between outMin and outMax.
     */
     float compute(float pv, float sp);
- 
+
     //Getters.
     float getInMin();
     float getInMax();
@@ -82,26 +82,26 @@
     float getPParam();
     float getIParam();
     float getDParam();
- 
+
 private:
-    
-  //  bool usingFeedForward;
- 
+
+    //  bool usingFeedForward;
+
     //Actual tuning parameters used in PID calculation.
     float Kc_;
     float tauI_;
     float tauD_;
-    
-    
-    
-     float pParam_;
+
+
+
+    float pParam_;
     float iParam_;
     float dParam_;
-    
+
     float accError_;
- 
+
     //Raw tuning parameters.
-   
+
     //The point we want to reach.
     float setPoint_;
     //The thing we measure.
@@ -110,33 +110,33 @@
     //The output that affects the process variable.
     float controllerOutput_;
     float prevControllerOutput_;
- 
+
     //We work in % for calculations so these will scale from
     //real world values to 0-100% and back again.
     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_;
     //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_;
+
 };