Diff: Library_Cntrl/PIDT2_Cntrl.h

Revision:

16:28b6bb8a4b7f

Parent:

15:9f32f64eee5b

--- a/Library_Cntrl/PIDT2_Cntrl.h	Sun May 02 08:17:06 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#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