Ruprecht Altenburger / Mbed OS mirror_actuator_stud

template for students for mirror actuator

Dependencies:   FastPWM

Lib_Cntrl/PID_Cntrl.h@3:d672a96eeecc, 2022-03-06 (annotated)

Committer:
altb2
Date:
Sun Mar 06 08:57:28 2022 +0000
Revision:
3:d672a96eeecc
Parent:
2:c4c4cc1bff45 
MirrorActuator Stud FS21

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:d2e117716219 1 #ifndef PID_CNTRL_H_
altb2 0:d2e117716219 2 #define PID_CNTRL_H_
altb2 0:d2e117716219 3
altb2 0:d2e117716219 4 class PID_Cntrl
altb2 0:d2e117716219 5 {
altb2 0:d2e117716219 6 public:
altb2 0:d2e117716219 7
altb2 0:d2e117716219 8 PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
altb2 0:d2e117716219 9 PID_Cntrl() {};
altb2 0:d2e117716219 10
altb2 0:d2e117716219 11 float operator()(float e)
altb2 0:d2e117716219 12 {
altb2 0:d2e117716219 13 return update(e);
altb2 0:d2e117716219 14 }
altb2 0:d2e117716219 15
altb2 0:d2e117716219 16 virtual ~PID_Cntrl();
altb2 0:d2e117716219 17
altb2 0:d2e117716219 18 void reset(float initValue);
altb2 0:d2e117716219 19 void setCoefficients(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
altb2 0:d2e117716219 20 float update(float e);
altb2 1:a7fc1afe0575 21 float saturate(float);
altb2 1:a7fc1afe0575 22
altb2 0:d2e117716219 23
altb2 0:d2e117716219 24 private:
altb2 1:a7fc1afe0575 25 float P,I,D,tau_f,Ts,uMax,uMin;
altb2 2:c4c4cc1bff45 26 float Ipart,Dpart,e_old;
altb2 0:d2e117716219 27
altb2 0:d2e117716219 28 };
altb2 0:d2e117716219 29
altb2 0:d2e117716219 30 #endif