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Dependencies:   QEI mbed

pid.cpp

Committer:
ahmedallibhoy
Date:
2015-12-02
Revision:
1:45f1f67eab62
Child:
4:d59328f14363

File content as of revision 1:45f1f67eab62:

#include "pid.h"

void PIDController::onLoop()
{
    float error = (m_error)();
    (m_out)(m_Kp * error + m_Ki * iController(error) + m_Kd * dController(error));
    wait(m_dt);
}

float PIDController::iController(float error)
{
    m_integral += error;
    return m_integral;
}

float PIDController::dController(float error)
{
    float derivative = error - m_pError;
    m_pError = error;
    return derivative; 
}

void PIDController::reset()
{
    m_integral = 0;
}