dror balbul / Mbed 2 deprecated pidtaurd

taurd for noam

Dependencies:   mbed Map

PID.h@2:fd1023193cc4, 2019-12-20 (annotated)

Committer:
drorbalbul
Date:
Fri Dec 20 16:29:33 2019 +0000
Revision:
2:fd1023193cc4
pidtaurd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drorbalbul 2:fd1023193cc4 1
drorbalbul 2:fd1023193cc4 2 #ifndef PID_H
drorbalbul 2:fd1023193cc4 3 #define PID_H
drorbalbul 2:fd1023193cc4 4
drorbalbul 2:fd1023193cc4 5 #include <stdbool.h>
drorbalbul 2:fd1023193cc4 6 #include <stdint.h>
drorbalbul 2:fd1023193cc4 7
drorbalbul 2:fd1023193cc4 8 typedef struct
drorbalbul 2:fd1023193cc4 9 { // Input, output and setpoint
drorbalbul 2:fd1023193cc4 10 float * input;
drorbalbul 2:fd1023193cc4 11 float * output;
drorbalbul 2:fd1023193cc4 12 float * setpoint;
drorbalbul 2:fd1023193cc4 13 // Tuning parameters
drorbalbul 2:fd1023193cc4 14 float Kp;
drorbalbul 2:fd1023193cc4 15 float Ki;
drorbalbul 2:fd1023193cc4 16 float Kd;
drorbalbul 2:fd1023193cc4 17 // Output minimum and maximum values
drorbalbul 2:fd1023193cc4 18 float minOutput;
drorbalbul 2:fd1023193cc4 19 float maxOutput;
drorbalbul 2:fd1023193cc4 20 // Variables for PID algorithm
drorbalbul 2:fd1023193cc4 21 float sumError;
drorbalbul 2:fd1023193cc4 22 float lastInput;
drorbalbul 2:fd1023193cc4 23 float lastError;
drorbalbul 2:fd1023193cc4 24 }pid;
drorbalbul 2:fd1023193cc4 25
drorbalbul 2:fd1023193cc4 26 #ifdef __cplusplus
drorbalbul 2:fd1023193cc4 27 extern "C" {
drorbalbul 2:fd1023193cc4 28 #endif
drorbalbul 2:fd1023193cc4 29
drorbalbul 2:fd1023193cc4 30 pid* pid_create(pid* pid, float* input, float* output, float* setoint, float kp, float ki, float kd);
drorbalbul 2:fd1023193cc4 31
drorbalbul 2:fd1023193cc4 32 void pid_compute(pid* pid);
drorbalbul 2:fd1023193cc4 33
drorbalbul 2:fd1023193cc4 34
drorbalbul 2:fd1023193cc4 35 void pid_tune(pid* pid, float kp, float ki, float kd);
drorbalbul 2:fd1023193cc4 36
drorbalbul 2:fd1023193cc4 37
drorbalbul 2:fd1023193cc4 38 void pid_limits(pid* pid, float min, float max);
drorbalbul 2:fd1023193cc4 39
drorbalbul 2:fd1023193cc4 40
drorbalbul 2:fd1023193cc4 41
drorbalbul 2:fd1023193cc4 42 #ifdef __cplusplus
drorbalbul 2:fd1023193cc4 43 }
drorbalbul 2:fd1023193cc4 44 #endif
drorbalbul 2:fd1023193cc4 45
drorbalbul 2:fd1023193cc4 46 #endif
drorbalbul 2:fd1023193cc4 47 // End of Header file
drorbalbul 2:fd1023193cc4 48