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Show/hide line numbers Controller.h Source File

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