Pascal Keller
/
GRT_VC_PIDT1
Regler von Kellep15
PID_Cntrl.h
- Committer:
- kellep15
- Date:
- 2019-05-16
- Revision:
- 2:394782101261
- Parent:
- 1:92f175969d90
File content as of revision 2:394782101261:
#ifndef PID_CNTRL_H_ #define PID_CNTRL_H_ // PID Controller Class class PID_Cntrl { public: PID_Cntrl(float Kp, float Ki, float Kd, float Tf, float Ts, float uMin, float uMax); float operator()(float error) { return update(error); } virtual ~PID_Cntrl(); void reset(float initValue); float update(float error); private: // controller parameters (member variables) float Kp, Ki, Kd, Tf, Tx, Ts, yMin, yMax; // storage for signals (member variables) float e_old, y_I, y_Dold; }; #endif