Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

pid.h@1:45f1f67eab62, 2015-12-02 (annotated)

Committer:
ahmedallibhoy
Date:
Wed Dec 02 16:47:26 2015 +0000
Revision:
1:45f1f67eab62
Child:
4:d59328f14363
updates;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahmedallibhoy 1:45f1f67eab62 1 #ifndef PID_H
ahmedallibhoy 1:45f1f67eab62 2 #define PID_H
ahmedallibhoy 1:45f1f67eab62 3
ahmedallibhoy 1:45f1f67eab62 4 #include "mbed.h"
ahmedallibhoy 1:45f1f67eab62 5
ahmedallibhoy 1:45f1f67eab62 6 class PIDController
ahmedallibhoy 1:45f1f67eab62 7 {
ahmedallibhoy 1:45f1f67eab62 8 public:
ahmedallibhoy 1:45f1f67eab62 9 PIDController(void (*output)(float), float (*error)(void),
ahmedallibhoy 1:45f1f67eab62 10 float Kp, float Ki, float Kd,
ahmedallibhoy 1:45f1f67eab62 11 float dt = .1) :
ahmedallibhoy 1:45f1f67eab62 12 m_Kp(Kp), m_Ki(Ki), m_Kd(Kd),
ahmedallibhoy 1:45f1f67eab62 13 m_dt(dt), m_integral(0), m_pError(0)
ahmedallibhoy 1:45f1f67eab62 14 {
ahmedallibhoy 1:45f1f67eab62 15 m_out = output;
ahmedallibhoy 1:45f1f67eab62 16 m_error = error;
ahmedallibhoy 1:45f1f67eab62 17 };
ahmedallibhoy 1:45f1f67eab62 18
ahmedallibhoy 1:45f1f67eab62 19 void onLoop();
ahmedallibhoy 1:45f1f67eab62 20 void reset();
ahmedallibhoy 1:45f1f67eab62 21 private:
ahmedallibhoy 1:45f1f67eab62 22 float iController(float error);
ahmedallibhoy 1:45f1f67eab62 23 float dController(float error);
ahmedallibhoy 1:45f1f67eab62 24
ahmedallibhoy 1:45f1f67eab62 25 float m_integral;
ahmedallibhoy 1:45f1f67eab62 26 float m_pError;
ahmedallibhoy 1:45f1f67eab62 27
ahmedallibhoy 1:45f1f67eab62 28 float m_dt;
ahmedallibhoy 1:45f1f67eab62 29
ahmedallibhoy 1:45f1f67eab62 30 float m_Kp, m_Ki, m_Kd;
ahmedallibhoy 1:45f1f67eab62 31 void (*m_out)(float);
ahmedallibhoy 1:45f1f67eab62 32 float (*m_error)(void);
ahmedallibhoy 1:45f1f67eab62 33 };
ahmedallibhoy 1:45f1f67eab62 34
ahmedallibhoy 1:45f1f67eab62 35
ahmedallibhoy 1:45f1f67eab62 36 #endif //PID_H