2nd Library
Dependents: cuboid_balance_ros cuboid_balance mirror_actuator_V1
PID_Cntrl.h
- Committer:
- altb2
- Date:
- 2021-02-25
- Revision:
- 2:b54eb3e24d2d
- Parent:
- 0:a201a6cd4c0c
File content as of revision 2:b54eb3e24d2d:
#ifndef PID_CNTRL_H_ #define PID_CNTRL_H_ class PID_Cntrl { public: PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax); float operator()(float error) { return doStep((double)error); } virtual ~PID_Cntrl(); void reset(float initValue); float doStep(double error); void set_limits(double ,double ); float get_ulimit(void); private: double Iold; double eold,yold,del; double uMax; double uMin; double Ts; double P,I,D; double p, Ka; void setCoefficients(float P, float I, float D, float tau_f, float Ts); }; #endif