Diff: PID/PID.h

Revision:

0:37f0c1e8fa66

Child:

1:60882db03b0f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID/PID.h	Tue Sep 08 13:38:10 2015 +0000
@@ -0,0 +1,30 @@
+// by MaEtUgR
+
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class PID {
+    public:
+        PID(float P, float I, float D, float Integral_Max);
+        float compute(float SetPoint, float ProcessValue);
+        void setIntegrate(bool Integrate);
+        void setPID(float P, float I, float D);
+        
+        float Value;
+    
+    private:
+        float P, I, D; // PID Values and limits
+        
+        Timer dtTimer;  // Timer to measure time between every compute
+        float LastTime; // Time when last loop was
+        
+        float Integral; // the sum of all errors (constaind so it doesn't get infinite)
+        float Integral_Max; // maximum that the sum of all errors can get (not important: last error not counted)
+        bool Integrate; // if the integral is used / the controller is in use
+        
+        float PreviousError; // the Error of the last computation to get derivative
+};
+
+#endif
\ No newline at end of file