library to use pid easier
PID_lib.h
- Committer:
- fachrizi_kiki
- Date:
- 23 months ago
- Revision:
- 2:77ef3d60d8d9
- Parent:
- 1:ebb9cfc0cff5
- Child:
- 3:80e7ed9fdb02
File content as of revision 2:77ef3d60d8d9:
#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 */ void pid_pwm(float target_, float kp_, float ki_, float kd_, float rpm); private: Timer t; DigitalOut dir1; DigitalOut dir2; PwmOut pwm; 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; float rpmFiltn1; float rpmn1; }; #endif