My Controller Library
PID_Cntrl.h
- Committer:
- altb
- Date:
- 2018-09-28
- Revision:
- 1:bf62e74fbcf3
- Parent:
- 0:e2a7d7f91e49
File content as of revision 1:bf62e74fbcf3:
class PID_Cntrl { public: PID_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 eold,yold,del; double uMax; double uMin; double Ts; double P,I,D; double p; void setCoefficients(float P, float I, float D, float tau_f, float Ts); };