library to use pid easier
Diff: PID_lib.h
- Revision:
- 0:e14308f43fdf
- Child:
- 1:ebb9cfc0cff5
diff -r 000000000000 -r e14308f43fdf PID_lib.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID_lib.h Sun Oct 16 09:27:54 2022 +0000 @@ -0,0 +1,38 @@ +//make pid_lib cpp +#ifndef PID_lib +#define PID_lib + +#include "mbed.h" + +class PID_lib{ + public: + PID_lib(PinName dir1, PinName dir2, PinName pwm_,float rpm_); + + 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,rpmFiltn1; + float rpmn1,; +}; + +#endif \ No newline at end of file