Diff: PID_lib.h

Revision:

0:e14308f43fdf

Child:

1:ebb9cfc0cff5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_lib.h	Sun Oct 16 09:27:54 2022 +0000
@@ -0,0 +1,38 @@
+//make pid_lib cpp
+#ifndef PID_lib
+#define PID_lib
+
+#include "mbed.h"
+
+class PID_lib{
+    public:
+       PID_lib(PinName dir1, PinName dir2, PinName pwm_,float rpm_);
+       
+       void pid_pwm(float target_, float kp_, float ki_, float kd_);
+    private:
+       Timer t;
+       DigitalOut dir1;
+       DigitalOut dir2
+       PwmOut pwm_;
+    protected:
+       float rpm;
+       float e;
+       float laste;
+       float eI;
+       float eD;
+       float dt;
+       float tim;
+       float lastime;
+       float pidPwm;
+       float pwmLebih;
+       float lastPid;
+       float hP;
+       float hI;
+       float hD;
+       float setI;
+       
+       float rpmFilt,rpmFiltn1;
+       float rpmn1,;
+};
+
+#endif
\ No newline at end of file