Diff: verwerking/pid.h

Revision:

0:bec310bde899

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/verwerking/pid.h	Tue Sep 27 19:46:30 2011 +0000
@@ -0,0 +1,41 @@
+#ifndef PID_H
+#define PID_H
+
+#include "pws.h"
+#include "kompas.h"
+#include "goto.h"
+#include "roer.h"
+
+class Pid{
+    double p,i,d;
+    double kp,ki,kd;
+    double dt;
+    double prev_error;
+    int o;
+    
+    Goto * sp;
+    Kompas * pv;
+    Roer * output;
+    
+    public:
+        Pid (Goto *, Kompas *, Roer *);
+        
+        void setKp(double k){kp = k;}
+        void setKi(double k){ki = k;}
+        void setKd(double k){kd = k;}
+        
+        double getP(void){return p;}
+        double getI(void){return i;}
+        double getD(void){return d;}
+        double getKP(void){return kp;}
+        double getKI(void){return ki;}
+        double getKD(void){return kd;}
+        double getE(void){return prev_error;}
+        double getSP(void){return sp->get();}
+        double getPV(void){return pv->get();}
+        int getO(void){return o;}
+        
+        void update(void);
+};
+
+#endif
\ No newline at end of file