File content as of revision 9:2304689cab4a:

#ifndef PID_lib_H
#define PID_lib_H

#include "mbed.h"

class PID_lib {

public:

    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_);
    float record_data(int dir_,float speed_,float freq, float t_r);
    void useParams1();
    void printParams();

private:
       Timer tr;
       DigitalOut dir1;
       DigitalOut dir2;
       PwmOut pwm;
       float freq_rec;
       float rpm_rec;
       float rpm;
       float freq;
       float ppr;
       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;
       float rpmFiltn1;
       float rpmn1;
};

#endif