.
Fork of
Cntrlol_Lib
by Ruprecht Altenburger
Diff: PID_Cntrl.h
- Revision:
- 1:bf62e74fbcf3
- Parent:
- 0:e2a7d7f91e49
- Child:
- 2:1f8ddc46c578
--- a/PID_Cntrl.h Fri Sep 28 08:34:20 2018 +0000
+++ b/PID_Cntrl.h Fri Sep 28 09:01:42 2018 +0000
@@ -1,8 +1,8 @@
-class PI_Cntrl
+class PID_Cntrl
{
public:
- PI_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMax, float uMin);
+ PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMax, float uMin);
float operator()(float error) {
return doStep((double)error);
@@ -16,10 +16,12 @@
private:
double Iold;
- double uk,yk;
+ double eold,yold,del;
double uMax;
double uMin;
double Ts;
- void setCoefficients(float D, float tau_f, float Ts);
+ double P,I,D;
+ double p;
+ void setCoefficients(float P, float I, float D, float tau_f, float Ts);
};
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