jiexuan fan
/
PID
a
PID.h
- Committer:
- benkatz
- Date:
- 2013-07-12
- Revision:
- 3:cae0b305d54c
- Parent:
- 2:89bb6272869b
- Child:
- 5:f82e86e63928
File content as of revision 3:cae0b305d54c:
//Ben Katz, 2013 //PID Controller class #include "mbed.h" #ifndef PID_H #define PID_H class PIDController{ public: PIDController(float desired_position, float desired_torque, float p_gainp, float d_gainp, float i_gain_p, float p_gain_c, float i_gain_c); ~PIDController(); float goal_position; float current_position; float kp_p; float kd_p; float ki_p; float kp_c; float ki_c; float c_error; float error_sum; float command; float torque_command; float c_torque; float error; float old_error; float integral_error; int counter; Timer timer; float torque; float direction; float past_currents [5]; float command_position(void); float command_torque(void); float command_position_tm(void); private: }; #endif