Diff: PID.h

Revision:

0:8a420ac6394e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Mon Jun 19 15:55:51 2017 +0000
@@ -0,0 +1,31 @@
+#ifndef __PID_H__
+#define __PID_H__
+
+class PID
+{
+public:
+    PID(void);
+    
+    void AddSample(double sampleValue,double control);
+    double GetOutput(void) { return currentOutput; }
+    double GetPidSampleValue(void) { return pidSampleValue; }
+    void Reset(void);
+    void SetOutputRange(double minOutput, double maxOutput);
+    void SetPeriodMilliseconds(double period) { msPeriod = period; }
+    void SetPID(double kp, double ki, double kd);
+    void SetTarget(double target) { this->target = target; }
+    double GetTarget(void){return target;}
+private:
+    double minOutput, maxOutput;
+    double kp, ki, kd;
+    double errorIntegral;
+    double lastError;
+    double msPeriod;
+    double target;
+    double currentOutput;
+    double pidSampleValue;
+};
+
+
+#endif
+