Diff: pid_dagoz/PID.h

Revision:

0:aa8e05bc0533

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid_dagoz/PID.h	Thu Feb 27 12:40:03 2020 +0000
@@ -0,0 +1,53 @@
+/*
+ *  Author      : Dagozilla ITB
+ *  Developer   : Dagozilla ITB
+ *  Reference   : https://www.scilab.org/discrete-time-pid-controller-implementation
+ */
+
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class PID{
+    public :
+            typedef enum Mode{
+                PI_MODE,
+                PID_MODE
+            }Mode;
+
+            PID(float p , float i , float d , float _N , float _Ts, float FF, Mode _mode) ;
+
+            void setTunings(float p, float i, float d);
+
+            float createpwm( float setpoint , float feedback ) ;
+        
+    private :
+            float Kp ;
+            float Kd ;
+            float Ki ;
+            float N ;
+            float Ts ;
+            float a0;
+            float a1;
+            float a2;
+            float b0;
+            float b1;
+            float b2;
+            float ku1;
+            float ku2;
+            float ke0;
+            float ke1;
+            float ke2;
+            float e2;
+            float e1;
+            float e0;
+            float u2;
+            float u1;
+            float u0; 
+            float FF;
+            Mode mode;
+};
+#endif
+
+    
\ No newline at end of file