Ahmed Allibhoy
/
MM_Competition
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: pid.h
- Revision:
- 1:45f1f67eab62
- Child:
- 4:d59328f14363
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.h Wed Dec 02 16:47:26 2015 +0000
@@ -0,0 +1,36 @@
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class PIDController
+{
+public:
+ PIDController(void (*output)(float), float (*error)(void),
+ float Kp, float Ki, float Kd,
+ float dt = .1) :
+ m_Kp(Kp), m_Ki(Ki), m_Kd(Kd),
+ m_dt(dt), m_integral(0), m_pError(0)
+ {
+ m_out = output;
+ m_error = error;
+ };
+
+ void onLoop();
+ void reset();
+private:
+ float iController(float error);
+ float dController(float error);
+
+ float m_integral;
+ float m_pError;
+
+ float m_dt;
+
+ float m_Kp, m_Ki, m_Kd;
+ void (*m_out)(float);
+ float (*m_error)(void);
+};
+
+
+#endif //PID_H
\ No newline at end of file
