Austin Buchan / ServoController

Decoupled position and current control working.

Dependencies:   QEI mbed-src

PID.h@2:89bb6272869b, 2013-06-28 (annotated)

Committer:
benkatz
Date:
Fri Jun 28 19:03:06 2013 +0000
Revision:
2:89bb6272869b
Child:
3:cae0b305d54c
V1.0;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 2:89bb6272869b 1 //Ben Katz, 2013
benkatz 2:89bb6272869b 2 //PID Controller class
benkatz 2:89bb6272869b 3
benkatz 2:89bb6272869b 4 #include "mbed.h"
benkatz 2:89bb6272869b 5 #ifndef PID_H
benkatz 2:89bb6272869b 6 #define PID_H
benkatz 2:89bb6272869b 7
benkatz 2:89bb6272869b 8 class PIDController{
benkatz 2:89bb6272869b 9 public:
benkatz 2:89bb6272869b 10
benkatz 2:89bb6272869b 11 PIDController(float desired_position, float p_gain, float d_gain, float i_gain);
benkatz 2:89bb6272869b 12 ~PIDController();
benkatz 2:89bb6272869b 13
benkatz 2:89bb6272869b 14 float goal_position;
benkatz 2:89bb6272869b 15
benkatz 2:89bb6272869b 16 float kp;
benkatz 2:89bb6272869b 17 float kd;
benkatz 2:89bb6272869b 18 float ki;
benkatz 2:89bb6272869b 19
benkatz 2:89bb6272869b 20 float error;
benkatz 2:89bb6272869b 21 float old_error;
benkatz 2:89bb6272869b 22 float integral_error;
benkatz 2:89bb6272869b 23
benkatz 2:89bb6272869b 24 float Update(void);
benkatz 2:89bb6272869b 25
benkatz 2:89bb6272869b 26 private:
benkatz 2:89bb6272869b 27
benkatz 2:89bb6272869b 28
benkatz 2:89bb6272869b 29
benkatz 2:89bb6272869b 30
benkatz 2:89bb6272869b 31
benkatz 2:89bb6272869b 32
benkatz 2:89bb6272869b 33 };
benkatz 2:89bb6272869b 34 #endif