PID
PID.h@0:3d03a93d9671, 2018-05-16 (annotated)
- Committer:
- ckalintra
- Date:
- Wed May 16 10:27:33 2018 +0000
- Revision:
- 0:3d03a93d9671
PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ckalintra | 0:3d03a93d9671 | 1 | #ifndef PID_H |
ckalintra | 0:3d03a93d9671 | 2 | #define PID_H |
ckalintra | 0:3d03a93d9671 | 3 | |
ckalintra | 0:3d03a93d9671 | 4 | #include "mbed.h" |
ckalintra | 0:3d03a93d9671 | 5 | |
ckalintra | 0:3d03a93d9671 | 6 | extern Serial pc; |
ckalintra | 0:3d03a93d9671 | 7 | |
ckalintra | 0:3d03a93d9671 | 8 | class PID |
ckalintra | 0:3d03a93d9671 | 9 | { |
ckalintra | 0:3d03a93d9671 | 10 | protected: |
ckalintra | 0:3d03a93d9671 | 11 | public: |
ckalintra | 0:3d03a93d9671 | 12 | /*x = error |
ckalintra | 0:3d03a93d9671 | 13 | output = PID output |
ckalintra | 0:3d03a93d9671 | 14 | time = time since last pid is run |
ckalintra | 0:3d03a93d9671 | 15 | //integral = sum of all previous error |
ckalintra | 0:3d03a93d9671 | 16 | */ |
ckalintra | 0:3d03a93d9671 | 17 | void control(float x, float *output, float time, float integral); |
ckalintra | 0:3d03a93d9671 | 18 | }; |
ckalintra | 0:3d03a93d9671 | 19 | |
ckalintra | 0:3d03a93d9671 | 20 | #endif |