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