Crystal Huynh / Mbed 2 deprecated pixy_test

code for testing the pixy

Dependencies:   mbed

PID_Control.h

Committer:
huynh270
Date:
2017-05-30
Revision:
0:214d306295fa

File content as of revision 0:214d306295fa:

/*
 * PIDControl.h
 *
 *  Created on: 16.04.2017
 *      Author: chris
 */
 
#ifndef COMMON_PID_CONTROL_H_
#define COMMON_PID_CONTROL_H_
 
/**
 * This class calculates a PID control
 */
class PID_Control
{
public:
    PID_Control();
    virtual ~PID_Control();
 
    float calc(float e, float period);
    void setPIDValues(float p, float i, float d, float max, float min, float _iMax);
 
private:
    /**
     * the proportional gain
     */
    float kp;
 
    /**
     * integral gain
     */
    float ki;
 
    /**
     * differential gain
     */
    float kd;
 
    /**
     * Sum of all the errors
     */
    float iSum;
 
    /**
     * Error value one iteration befor
     */
    float eOld;
     
    float max;
    float min;
    float iMax;
     
};
 
#endif /* COMMON_PID_CONTROL_H_ */