Diff: PIDTheta.h

Revision:

0:e63996fd7d3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDTheta.h	Fri Jul 03 11:16:02 2015 +0000
@@ -0,0 +1,44 @@
+//Includes//
+#ifndef _QuadCopter_H
+#define _QuadCopter_H
+#ifndef _MBED_H
+#define _MBED_H
+#include "mbed.h"
+#endif
+#ifndef _IOSTREAM_
+#define _IOSTREAM_
+#include "iostream"
+#endif
+#ifndef _MATH_H
+#define _MATH_H
+#define D_BAUDRATE            115200
+//#include "math.h"
+#endif
+class PIDTheta{
+    public:
+    PIDTheta( PinName pwm,PinName pwm2,float Listen_time_ms,float KP,float KI,float KD,float KDD);//constructor
+    void Motor_init(float Listen_time_ms);//initialization motors
+    void Motor_Control_signal();//giving control signal to the motor.
+
+    void PWM_cal(float RPM_req,float RPM_curr,float req_power_SP);//calculating the PWM taking in mind upper/lower limits and error calculation/estimation.
+    void Set_OUT_Limits(float LowerLimit,float UpperLimit);//setting Output Limits.
+    void Set_IN_Limits(float LowerLimit,float UpperLimit);//setting Input Limits.
+    void Check_OUT_Limits(float *RPMSetPoint);//checking Input Limits in the Realtime operation.
+    void Check_IN_Limits(float *O_PWM);//checking Output Limits in Realtime operation.
+    
+    private:
+    void Pulse_Error_cal(float RPM_req,float RPM_curr);//error calculating and out the relative output to the relative error.
+    //variables and PinRoles
+    float PowerSetPoint;//,RPMSetPoint;
+    float Out_PWM,Out_PWM2;
+    float O_Upper_Limit,O_Lower_Limit;
+    float I_Upper_Limit,I_Lower_Limit;
+    float Error,ErrorI,ErrorD,ErrorOLD,ErrorDD,ErrorDOLD;
+    float h;
+    float _KP,_KD,_KI,_KDD;
+    //Serial debugSerial;
+    PwmOut _pwm;
+    PwmOut _pwm2;
+};
+
+#endif
\ No newline at end of file