.
Fork of
Cntrlol_Lib
by Ruprecht Altenburger
Diff: PI_Cntrl.h
- Revision:
- 0:e2a7d7f91e49
diff -r 000000000000 -r e2a7d7f91e49 PI_Cntrl.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PI_Cntrl.h Fri Sep 28 08:34:20 2018 +0000
@@ -0,0 +1,29 @@
+class PI_Cntrl
+{
+public:
+
+ PI_Cntrl(float Kp, float Tn, float Ts);
+ PI_Cntrl(float Kp, float Tn, float Ts, float uMax);
+ PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin);
+
+ float operator()(float error) {
+ return doStep((double)error);
+ }
+
+ virtual ~PI_Cntrl();
+
+ void reset(float initValue);
+ float doStep(double error);
+
+private:
+
+ double b0;
+ double b1;
+ double b2;
+ double s;
+ double uMax;
+ double uMin;
+
+ void setCoefficients(float Kp, float Tn, float Ts);
+
+};
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