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Control.h
00001 #ifndef CONTROL_H 00002 #define CONTROL_H 00003 #include "mbed.h" 00004 using namespace std; 00005 class Control{ 00006 private: 00007 float KP; 00008 float KV; 00009 float KI; 00010 float KA; 00011 float KM; 00012 float Scale; 00013 float Offset; 00014 float MaxTorque; 00015 float SamplingTime; 00016 float PrevErr; 00017 public: 00018 Control(float _KP, float _KV, float _KI,float _KA,float _KM ,float _SamplingTime, float _Scale, float _Offset,float _MaxTorque); 00019 float GetKP(); 00020 float GetKV(); 00021 float GetKI(); 00022 float SaturationControl(float value); 00023 float ComputeP(float qref, float qi); 00024 float ComputePD_FirstVersion(float qref, float qi, float qdotref, float qdoti); 00025 float ComputePD_SecondVersion(float qref, float qi, float qdoti); 00026 float ComputePID(float qref, float qi, float qdotref, float qdoti); 00027 float ComputePDG(float qref, float qi, float qdotref, float qdoti, float Tau); 00028 }; 00029 #endif //CONTROL_H
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