José Claudio / Mbed 2 deprecated QuadCopter-Sensor-Serial

Quadcopter working with accelerômeter and accelerometer, and bluetooth radio for communication

Dependencies:   mbed

Controllers/PID.h@0:56b8c86181b1, 2013-05-21 (annotated)

Committer:
jose_claudiojr
Date:
Tue May 21 14:12:13 2013 +0000
Revision:
0:56b8c86181b1
Quadcopter code with accelerometer and gyroscope.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jose_claudiojr 0:56b8c86181b1 1 #ifndef PID_H
jose_claudiojr 0:56b8c86181b1 2 #define PID_H
jose_claudiojr 0:56b8c86181b1 3
jose_claudiojr 0:56b8c86181b1 4 class PID
jose_claudiojr 0:56b8c86181b1 5 {
jose_claudiojr 0:56b8c86181b1 6 public:
jose_claudiojr 0:56b8c86181b1 7 PID(float kp, float ki, float kd, float dt);
jose_claudiojr 0:56b8c86181b1 8
jose_claudiojr 0:56b8c86181b1 9 void setGains(float kp, float ki, float kd);
jose_claudiojr 0:56b8c86181b1 10 void reset();
jose_claudiojr 0:56b8c86181b1 11 float compute(float setPoint, float currentPoint);
jose_claudiojr 0:56b8c86181b1 12
jose_claudiojr 0:56b8c86181b1 13 float getP();
jose_claudiojr 0:56b8c86181b1 14 float getI();
jose_claudiojr 0:56b8c86181b1 15 float getD();
jose_claudiojr 0:56b8c86181b1 16
jose_claudiojr 0:56b8c86181b1 17 private:
jose_claudiojr 0:56b8c86181b1 18 float kp, ki, kd, _pid;
jose_claudiojr 0:56b8c86181b1 19 float dt;
jose_claudiojr 0:56b8c86181b1 20 float lastErro, lastSumErro;
jose_claudiojr 0:56b8c86181b1 21 float integral;
jose_claudiojr 0:56b8c86181b1 22 };
jose_claudiojr 0:56b8c86181b1 23
jose_claudiojr 0:56b8c86181b1 24 #endif