Diff: PID_lib.h

Revision:

4:344e46625032

Parent:

3:80e7ed9fdb02

Child:

5:ae183f132d39

--- a/PID_lib.h	Thu Oct 20 07:36:28 2022 +0000
+++ b/PID_lib.h	Thu Dec 15 00:58:59 2022 +0000
@@ -1,42 +1,29 @@
 #ifndef PID_lib_H
 #define PID_lib_H
 
-/**
- * Includes
- */
 #include "mbed.h"
 
-/**
- * Proportional-integral-derivative controller.
- */
 class PID_lib {
 
 public:
 
-    /*
-        initialization
-        
-        --------------
-        
-        inisialisasi
-    */
-    PID_lib(PinName dir1, PinName dir2, PinName pwm);
-        /*
-        get the pid pwm
-        
-        --------------
-        
-        keluarkan nilai pwm pid
-    */   
+    PID_lib(PinName direksi1, PinName direksi2, PinName pulseWidth);
+  
     void pid_pwm(float target_, float kp_, float ki_, float kd_, float rpm, float t_);
     void pwm_read(float target_, float kp_, float ki_, float kd_, float rpm, float t_);
     void stop();
+    void manualPwm(int dir,float speed_);
+    void record_data(int dir_,float speed_,float freq, float t_r);
+    void useParams1();
+    void printParams();
 
 private:
-//       Timer t;
+       Timer tr;
        DigitalOut dir1;
        DigitalOut dir2;
        PwmOut pwm;
+       float freq_rec;
+       float rpm_rec;
        float rpm;
        float freq;
        float ppr;
@@ -58,8 +45,6 @@
        float rpmFilt;
        float rpmFiltn1;
        float rpmn1;
-
-
 };
 
 #endif