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Dependencies: BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed
Diff: pidcontrol.h
- Revision:
- 2:f873deba2305
- Parent:
- 1:45f1573d65a1
- Child:
- 3:edaab92dbd2f
--- a/pidcontrol.h Mon Mar 21 20:21:12 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,49 +0,0 @@
-#ifndef _PIDCONTROL_H_
-#define _PIDCONTROL_H_
-
-#include "mbed.h"
-
-class PID{
- public:
- PID();
- PID(float p,float i,float d);
- void setGoal(float ref);
- //float getGoal();
- void setCurrent(float sensor);
- float compute();
-
- void setMargin(float gap);
- float getMargin();
- void setIntegalLimit(float limit);
- float getIntegalLimit();
-
- float getErrorNow();
- float getErrorLast();
- float getErrorDiff();
- float getErrorIntegal();
-
- void setKp(float);
- void setKi(float);
- void setKd(float);
-
- float getKp();
- float getKi();
- float getKd();
-
- private:
- float e_n; //error now
- float e_n_1; //error last time
- float e_i; //error integal
- float il; //integal limit
- float margin; //output margin
-
- float Kp,Ki,Kd;
-
- float setpoint;
- float input;
- float output;
-};
-
-
-
-#endif