library to use pid easier
PID_lib.h
- Committer:
- fachrizi_kiki
- Date:
- 23 months ago
- Revision:
- 1:ebb9cfc0cff5
- Parent:
- 0:e14308f43fdf
- Child:
- 2:77ef3d60d8d9
File content as of revision 1:ebb9cfc0cff5:
#ifndef PID_lib #define PID_lib #include "mbed.h" 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: 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