Ruprecht Altenburger / Cntrlol_Lib

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);

};