Austin Buchan / ServoController

Decoupled position and current control working.

Dependencies:   QEI mbed-src

PID.h

Committer:
benkatz
Date:
2013-06-28
Revision:
2:89bb6272869b
Child:
3:cae0b305d54c

File content as of revision 2:89bb6272869b:

//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