My Controller Library
PID_Cntrl.h@1:bf62e74fbcf3, 2018-09-28 (annotated)
- Committer:
- altb
- Date:
- Fri Sep 28 09:01:42 2018 +0000
- Revision:
- 1:bf62e74fbcf3
- Parent:
- 0:e2a7d7f91e49
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 1:bf62e74fbcf3 | 1 | class PID_Cntrl |
altb | 0:e2a7d7f91e49 | 2 | { |
altb | 0:e2a7d7f91e49 | 3 | public: |
altb | 0:e2a7d7f91e49 | 4 | |
altb | 1:bf62e74fbcf3 | 5 | PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMax, float uMin); |
altb | 0:e2a7d7f91e49 | 6 | |
altb | 0:e2a7d7f91e49 | 7 | float operator()(float error) { |
altb | 0:e2a7d7f91e49 | 8 | return doStep((double)error); |
altb | 0:e2a7d7f91e49 | 9 | } |
altb | 0:e2a7d7f91e49 | 10 | |
altb | 0:e2a7d7f91e49 | 11 | virtual ~PID_Cntrl(); |
altb | 0:e2a7d7f91e49 | 12 | |
altb | 0:e2a7d7f91e49 | 13 | void reset(float initValue); |
altb | 0:e2a7d7f91e49 | 14 | float doStep(double error); |
altb | 0:e2a7d7f91e49 | 15 | |
altb | 0:e2a7d7f91e49 | 16 | private: |
altb | 0:e2a7d7f91e49 | 17 | |
altb | 0:e2a7d7f91e49 | 18 | double Iold; |
altb | 1:bf62e74fbcf3 | 19 | double eold,yold,del; |
altb | 0:e2a7d7f91e49 | 20 | double uMax; |
altb | 0:e2a7d7f91e49 | 21 | double uMin; |
altb | 0:e2a7d7f91e49 | 22 | double Ts; |
altb | 1:bf62e74fbcf3 | 23 | double P,I,D; |
altb | 1:bf62e74fbcf3 | 24 | double p; |
altb | 1:bf62e74fbcf3 | 25 | void setCoefficients(float P, float I, float D, float tau_f, float Ts); |
altb | 0:e2a7d7f91e49 | 26 | |
altb | 0:e2a7d7f91e49 | 27 | }; |