Diff: PID_lib.h

Revision:

2:77ef3d60d8d9

Parent:

1:ebb9cfc0cff5

Child:

3:80e7ed9fdb02

--- a/PID_lib.h	Sun Oct 16 10:07:21 2022 +0000
+++ b/PID_lib.h	Sun Oct 16 11:14:26 2022 +0000
@@ -1,10 +1,18 @@
-#ifndef PID_lib
-#define PID_lib
+#ifndef PID_lib_H
+#define PID_lib_H
 
+/**
+ * Includes
+ */
 #include "mbed.h"
 
+/**
+ * Proportional-integral-derivative controller.
+ */
 class PID_lib {
+
 public:
+
     /*
         initialization
         
@@ -12,7 +20,7 @@
         
         inisialisasi
     */
-    PID_lib(PinName dir1, PinName dir2, PinName pwm, float rpm=100);
+    PID_lib(PinName dir1, PinName dir2, PinName pwm);
         /*
         get the pid pwm
         
@@ -20,13 +28,13 @@
         
         keluarkan nilai pwm pid
     */   
-    void pid_pwm(float target_, float kp_, float ki_, float kd_);
+    void pid_pwm(float target_, float kp_, float ki_, float kd_, float rpm);
+
 private:
        Timer t;
        DigitalOut dir1;
-       DigitalOut dir2
-       PwmOut pwm_;
-protected:
+       DigitalOut dir2;
+       PwmOut pwm;
        float rpm;
        float e;
        float laste;
@@ -46,6 +54,8 @@
        float rpmFilt;
        float rpmFiltn1;
        float rpmn1;
+
+
 };
 
-#endif
\ No newline at end of file
+#endif