Diff: pid.h

Revision:

4:d59328f14363

Parent:

1:45f1f67eab62

Child:

5:0975b797bf54

--- a/pid.h	Fri Dec 04 05:07:51 2015 +0000
+++ b/pid.h	Fri Dec 04 05:12:57 2015 +0000
@@ -1,36 +1,70 @@
+//#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);
+//};
+//
+//
+
+
 #ifndef PID_H
 #define PID_H
+#include"mbed.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;
-    };
+class ctrl{
+ public:
     
-    void onLoop();  
-    void reset();  
-private:
-    float iController(float error);
-    float dController(float error);
-
-    float m_integral;
-    float m_pError;
+  void setKp(double num);
+  void setKi(double num);
+  void setKd(double num);
+  void setprevErr(double num);
+  void setErr(double num);
+  void setCorrection(double num);
+  double pctrl();
+  double ictrl();
+  double dctrl();
+  double total();
+  void adjust(double xSpeed,double ySpeed,double k1, double k2);
     
-    float m_dt;
-
-    float m_Kp, m_Ki, m_Kd;
-    void (*m_out)(float);
-    float (*m_error)(void);
+ private:
+  double error;
+  double ki;
+  double kd;
+  double kp;
+  double prevErr;
+  double correction;
+  double doubleegrater;
+  double decay;
+    
 };
 
-
-#endif //PID_H
\ No newline at end of file
+#endif //PID_H