Austin Buchan
Decoupled position and current control working.
Diff: PID.h
- Revision:
- 2:89bb6272869b
- Child:
- 3:cae0b305d54c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Fri Jun 28 19:03:06 2013 +0000
@@ -0,0 +1,34 @@
+//Ben Katz, 2013
+//PID Controller class
+
+#include "mbed.h"
+#ifndef PID_H
+#define PID_H
+
+class PIDController{
+public:
+
+PIDController(float desired_position, float p_gain, float d_gain, float i_gain);
+~PIDController();
+
+float goal_position;
+
+float kp;
+float kd;
+float ki;
+
+float error;
+float old_error;
+float integral_error;
+
+float Update(void);
+
+private:
+
+
+
+
+
+
+};
+#endif