Horia Carbune / Mbed 2 deprecated nRF51822_BLE_Control_Refactor

Refactoring and other updates

Dependencies:   BLE_API mbed nRF51822

Fork of nRF51822_SimpleChat by Cristi Stoican

PIDController.hpp@3:b6e4e5529a52, 2017-05-08 (annotated)

Committer:
carbune92
Date:
Mon May 08 13:05:45 2017 +0000
Revision:
3:b6e4e5529a52
It builds!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
carbune92 3:b6e4e5529a52 1 #ifndef PIDCONTROLLER_H
carbune92 3:b6e4e5529a52 2 #define PIDCONTROLLER_H
carbune92 3:b6e4e5529a52 3
carbune92 3:b6e4e5529a52 4 #include "Controller.hpp"
carbune92 3:b6e4e5529a52 5
carbune92 3:b6e4e5529a52 6 #define TE 0.1
carbune92 3:b6e4e5529a52 7 #define dif(a,b) (a-b)
carbune92 3:b6e4e5529a52 8
carbune92 3:b6e4e5529a52 9 class PIDController : public Controller {
carbune92 3:b6e4e5529a52 10
carbune92 3:b6e4e5529a52 11 private:
carbune92 3:b6e4e5529a52 12 float kp;
carbune92 3:b6e4e5529a52 13 float ti;
carbune92 3:b6e4e5529a52 14 float td;
carbune92 3:b6e4e5529a52 15
carbune92 3:b6e4e5529a52 16 public:
carbune92 3:b6e4e5529a52 17
carbune92 3:b6e4e5529a52 18 virtual void updateParams(ControllerParams&);
carbune92 3:b6e4e5529a52 19 virtual void calculateCmd(void);
carbune92 3:b6e4e5529a52 20 virtual ~PIDController();
carbune92 3:b6e4e5529a52 21
carbune92 3:b6e4e5529a52 22 void setKp(float);
carbune92 3:b6e4e5529a52 23 float getKp() const;
carbune92 3:b6e4e5529a52 24
carbune92 3:b6e4e5529a52 25 void setTi(float);
carbune92 3:b6e4e5529a52 26 float getTi() const;
carbune92 3:b6e4e5529a52 27
carbune92 3:b6e4e5529a52 28 void setTd(float);
carbune92 3:b6e4e5529a52 29 float getTd() const;
carbune92 3:b6e4e5529a52 30 };
carbune92 3:b6e4e5529a52 31
carbune92 3:b6e4e5529a52 32 #endif