Diff: PID_lib.h

Revision:

1:ebb9cfc0cff5

Parent:

0:e14308f43fdf

Child:

2:77ef3d60d8d9

--- a/PID_lib.h	Sun Oct 16 09:27:54 2022 +0000
+++ b/PID_lib.h	Sun Oct 16 10:07:21 2022 +0000
@@ -1,20 +1,32 @@
-//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:
+class PID_lib {
+public:
+    /*
+        initialization
+        
+        --------------
+        
+        inisialisasi
+    */
+    PID_lib(PinName dir1, PinName dir2, PinName pwm, float rpm=100);
+        /*
+        get the pid pwm
+        
+        --------------
+        
+        keluarkan nilai pwm pid
+    */   
+    void pid_pwm(float target_, float kp_, float ki_, float kd_);
+private:
        Timer t;
        DigitalOut dir1;
        DigitalOut dir2
        PwmOut pwm_;
-    protected:
+protected:
        float rpm;
        float e;
        float laste;
@@ -31,8 +43,9 @@
        float hD;
        float setI;
        
-       float rpmFilt,rpmFiltn1;
-       float rpmn1,;
+       float rpmFilt;
+       float rpmFiltn1;
+       float rpmn1;
 };
 
 #endif
\ No newline at end of file