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Controller.h
00001 #ifndef CONTROLLER_H 00002 #define CONTROLLER_H 00003 #include "mbed.h" 00004 using namespace std; 00005 class Controller { 00006 private: 00007 float KP; 00008 float KV; 00009 float KI; 00010 float SamplingTime; 00011 float PrevErr; 00012 public: 00013 Controller(float _KP, float _KV, float _KI, float _SamplingTime); 00014 float ComputeP(float qref, float qi); 00015 //Primera versión y segunda version PD 00016 float ComputePD(float qref, float qi, float qdotref, float qdoti); 00017 float ComputePID(float qref, float qi, float qdotref, float qdoti); 00018 }; 00019 #endif //CONTROLLER_H
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