Refactoring and other updates
Dependencies: BLE_API mbed nRF51822
Fork of
nRF51822_SimpleChat
by 
Cristi Stoican
Diff: PIDController.hpp
- Revision:
- 3:b6e4e5529a52
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDController.hpp Mon May 08 13:05:45 2017 +0000
@@ -0,0 +1,32 @@
+#ifndef PIDCONTROLLER_H
+#define PIDCONTROLLER_H
+
+#include "Controller.hpp"
+
+#define TE 0.1
+#define dif(a,b) (a-b)
+
+class PIDController : public Controller {
+
+ private:
+ float kp;
+ float ti;
+ float td;
+
+ public:
+
+ virtual void updateParams(ControllerParams&);
+ virtual void calculateCmd(void);
+ virtual ~PIDController();
+
+ void setKp(float);
+ float getKp() const;
+
+ void setTi(float);
+ float getTi() const;
+
+ void setTd(float);
+ float getTd() const;
+};
+
+#endif