2nd Library
PID_Cntrl.h@0:a201a6cd4c0c, 2019-03-07 (annotated)
- Committer:
- altb2
- Date:
- Thu Mar 07 07:03:56 2019 +0000
- Revision:
- 0:a201a6cd4c0c
- Child:
- 1:b54eb3e24d2d
New Library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:a201a6cd4c0c | 1 | class PID_Cntrl |
altb2 | 0:a201a6cd4c0c | 2 | { |
altb2 | 0:a201a6cd4c0c | 3 | public: |
altb2 | 0:a201a6cd4c0c | 4 | |
altb2 | 0:a201a6cd4c0c | 5 | PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax); |
altb2 | 0:a201a6cd4c0c | 6 | |
altb2 | 0:a201a6cd4c0c | 7 | float operator()(float error) { |
altb2 | 0:a201a6cd4c0c | 8 | return doStep((double)error); |
altb2 | 0:a201a6cd4c0c | 9 | } |
altb2 | 0:a201a6cd4c0c | 10 | |
altb2 | 0:a201a6cd4c0c | 11 | virtual ~PID_Cntrl(); |
altb2 | 0:a201a6cd4c0c | 12 | |
altb2 | 0:a201a6cd4c0c | 13 | void reset(float initValue); |
altb2 | 0:a201a6cd4c0c | 14 | float doStep(double error); |
altb2 | 0:a201a6cd4c0c | 15 | void set_limits(double ,double ); |
altb2 | 0:a201a6cd4c0c | 16 | float get_ulimit(void); |
altb2 | 0:a201a6cd4c0c | 17 | |
altb2 | 0:a201a6cd4c0c | 18 | private: |
altb2 | 0:a201a6cd4c0c | 19 | |
altb2 | 0:a201a6cd4c0c | 20 | double Iold; |
altb2 | 0:a201a6cd4c0c | 21 | double eold,yold,del; |
altb2 | 0:a201a6cd4c0c | 22 | double uMax; |
altb2 | 0:a201a6cd4c0c | 23 | double uMin; |
altb2 | 0:a201a6cd4c0c | 24 | double Ts; |
altb2 | 0:a201a6cd4c0c | 25 | double P,I,D; |
altb2 | 0:a201a6cd4c0c | 26 | double p, Ka; |
altb2 | 0:a201a6cd4c0c | 27 | void setCoefficients(float P, float I, float D, float tau_f, float Ts); |
altb2 | 0:a201a6cd4c0c | 28 | |
altb2 | 0:a201a6cd4c0c | 29 | }; |