2nd Library
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