Diff: PIDT2_Cntrl.h

Revision:

3:e3b84ea63c0f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDT2_Cntrl.h	Thu Apr 01 13:38:43 2021 +0000
@@ -0,0 +1,57 @@
+#ifndef PIDT2_CNTRL_H_
+#define PIDT2_CNTRL_H_
+
+#include "mbed.h"
+
+class PIDT2_Cntrl
+{
+public:
+
+    PIDT2_Cntrl(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
+
+    PIDT2_Cntrl() {};
+
+    float operator()(float e)
+    {
+        return update(e);
+    }
+    float operator()(float e, float y)
+    {
+        return update(e, y);
+    }
+
+    virtual ~PIDT2_Cntrl();
+
+    void    reset(float initValue);
+    void    setCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
+    void    setCoeff_P(float P);
+    void    setCoeff_I(float D);
+    void    setCoeff_D(float D);
+    void    scale_PIDT2_param(float scale);
+    float   update(float e);
+    float   update(float e, float y);
+    void    set_limits(float uMin, float uMax);
+    float   get_ulimit();
+    float   get_P_gain();
+		float   get_I();
+		float   get_D();
+    float   get_bd();
+    float   get_ad();
+		float   get_bi();
+		float   get_bf();
+		float   get_af();
+		
+
+private:
+		
+    float   IPart, Dpart, d_old, u_old, uf;
+    float  	P, I, D, tau_f, tau_ro, Ts, uMin, uMax;
+    float  	bi, bd, ad, bf, af;
+    float  	P_init, I_init, D_init;
+
+    void    setCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts);
+    float   saturate(float u, float uMin, float uMax);
+
+};
+
+#endif