My Controller Library
PID_Cntrl.h@0:e2a7d7f91e49, 2018-09-28 (annotated)
- Committer:
- altb
- Date:
- Fri Sep 28 08:34:20 2018 +0000
- Revision:
- 0:e2a7d7f91e49
- Child:
- 1:bf62e74fbcf3
ContrLib with PI, PID and Filters
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 0:e2a7d7f91e49 | 1 | class PI_Cntrl |
altb | 0:e2a7d7f91e49 | 2 | { |
altb | 0:e2a7d7f91e49 | 3 | public: |
altb | 0:e2a7d7f91e49 | 4 | |
altb | 0:e2a7d7f91e49 | 5 | PI_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 | 0:e2a7d7f91e49 | 19 | double uk,yk; |
altb | 0:e2a7d7f91e49 | 20 | double uMax; |
altb | 0:e2a7d7f91e49 | 21 | double uMin; |
altb | 0:e2a7d7f91e49 | 22 | double Ts; |
altb | 0:e2a7d7f91e49 | 23 | void setCoefficients(float D, float tau_f, float Ts); |
altb | 0:e2a7d7f91e49 | 24 | |
altb | 0:e2a7d7f91e49 | 25 | }; |