José Claudio / Mbed 2 deprecated QuadCopter-Sensor-Serial

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

Dependencies:   mbed

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