Ruprecht Altenburger
Mirror actuator for RT2 lab
Diff: Library_Cntrl/PI_Cntrl.h
- Revision:
- 16:28b6bb8a4b7f
- Parent:
- 15:9f32f64eee5b
--- a/Library_Cntrl/PI_Cntrl.h Sun May 02 08:17:06 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,29 +0,0 @@
-class PI_Cntrl
-{
-public:
-
- PI_Cntrl(float Kp, float Tn, float Ts);
- PI_Cntrl(float Kp, float Tn, float Ts, float uMax);
- PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin);
-
- float operator()(float error) {
- return doStep((double)error);
- }
-
- virtual ~PI_Cntrl();
-
- void reset(float initValue);
- float doStep(double error);
-
-private:
-
- double b0;
- double b1;
- double b2;
- double s;
- double uMax;
- double uMin;
-
- void setCoefficients(float Kp, float Tn, float Ts);
-
-};