.
Fork of Cntrlol_Lib by
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); }; \ No newline at end of file