Diff: Library_Cntrl/PID_Cntrl.h

Revision:

16:28b6bb8a4b7f

Parent:

15:9f32f64eee5b

--- a/Library_Cntrl/PID_Cntrl.h	Sun May 02 08:17:06 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,34 +0,0 @@
-#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
\ No newline at end of file