Diff: shared/PID_Control/PID.h

Revision:

0:ee7e9405e1c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/PID_Control/PID.h	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,45 @@
+#ifndef PID_H_
+#define PID_H_
+
+#include "mbed.h"
+
+class PID
+{
+public:
+    PID(): _pid_state()
+    {}
+    ~PID()
+    {
+        _tick_i.detach();
+        _tick_d.detach();
+    }
+    
+    double get_control();
+    void set_state(double target, double current);
+    
+    void set_PID(double k, double Ti, double Td);
+    void reset();
+protected: 
+    typedef struct pid_con_s{
+        double k;
+        double Ti;
+        double Td;
+        double current;
+        double target;
+    }pid_con_t;
+    
+    pid_con_t _pid_state;
+    
+    virtual double _get_control() = 0;
+    virtual void _calc_p() = 0;
+    virtual void _calc_i() = 0;
+    virtual void _calc_d() = 0;
+    virtual void _reset() = 0;
+private:
+    Ticker _tick_i, _tick_d;
+    
+    void _on_isr_i();
+    void _on_isr_d();
+};
+
+#endif