Preston Ernst / Mbed OS mirror_actuator_VT

-data logging revision

Dependencies:   FastPWM

Lib_Cntrl/PID_Cntrl.h

Committer:
ernstpre
Date:
2021-08-05
Revision:
1:25a2b47ca291
Parent:
0:d2e117716219

File content as of revision 1:25a2b47ca291:

#ifndef PID_CNTRL_H_
#define PID_CNTRL_H_

class PID_Cntrl
{
public:

    PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
    PID_Cntrl() {};

    float operator()(float e)
    {
        return update(e);
    }

    virtual ~PID_Cntrl();

    void    reset(float initValue);
    void    setCoefficients(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
    float   update(float e);
    float   saturate(float);
    
private:

    float P, I, D, tau_f, Ts, uMin, uMax;
    float Ppart, Ipart, Dpart, e_old;
    
};

#endif