.
Fork of
Cntrlol_Lib
by Ruprecht Altenburger
Diff: PID_Cntrl.h
- Revision:
- 0:e2a7d7f91e49
- Child:
- 1:bf62e74fbcf3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_Cntrl.h Fri Sep 28 08:34:20 2018 +0000
@@ -0,0 +1,25 @@
+class PI_Cntrl
+{
+public:
+
+ PI_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMax, float uMin);
+
+ float operator()(float error) {
+ return doStep((double)error);
+ }
+
+ virtual ~PID_Cntrl();
+
+ void reset(float initValue);
+ float doStep(double error);
+
+private:
+
+ double Iold;
+ double uk,yk;
+ double uMax;
+ double uMin;
+ double Ts;
+ void setCoefficients(float D, float tau_f, float Ts);
+
+};
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