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Quadcopter working with accelerômeter and accelerometer, and bluetooth radio for communication
Controllers/PID.h
- Committer:
- jose_claudiojr
- Date:
- 2013-05-21
- Revision:
- 0:56b8c86181b1
File content as of revision 0:56b8c86181b1:
#ifndef PID_H #define PID_H class PID { public: PID(float kp, float ki, float kd, float dt); void setGains(float kp, float ki, float kd); void reset(); float compute(float setPoint, float currentPoint); float getP(); float getI(); float getD(); private: float kp, ki, kd, _pid; float dt; float lastErro, lastSumErro; float integral; }; #endif