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Fork of Cntrlol_Lib by
PID_Cntrl.h
- Committer:
- altb
- Date:
- 2018-09-28
- Revision:
- 0:e2a7d7f91e49
- Child:
- 1:bf62e74fbcf3
File content as of revision 0:e2a7d7f91e49:
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); };