library to use pid easier
PID_lib.h
- Committer:
- fachrizi_kiki
- Date:
- 21 months ago
- Revision:
- 5:ae183f132d39
- Parent:
- 4:344e46625032
File content as of revision 5:ae183f132d39:
#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