Diff: PIDusna/PID.h

Revision:

0:37123f30e8b2

Child:

4:e89234ca9d4e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDusna/PID.h	Tue Jan 14 19:52:12 2020 +0000
@@ -0,0 +1,49 @@
+/*
+ * PID class for mbed
+ * US Naval Academy
+ * Robotics and Control TSD
+ * Patrick McCorkell
+ *
+ * Created: 2019 Dec 11
+ * 
+ */
+
+#include "mbed.h"
+
+typedef struct {
+    float Kp;
+    float Ki;
+    float Kd;
+} PID_GAINS_TypeDef;
+
+class PID
+{
+public:
+    PID (float Kp, float Ki, float Kd, int dt, float deadzone=0);
+    void calculate_K(float Tu);
+    void set_dt(int dt);
+    void clear_integral(); 
+    void clear_error();
+    void clear_error_previous();
+    void clear();
+    void set_K(float Kp, float Ki=0, float Kd=0);
+    void set_deadzone(float deadzone);
+    float process(float setpoint, float measured);
+    float process(float error);
+    void get_gain_values(PID_GAINS_TypeDef *gains);
+
+protected:
+    float _Kp;
+    float _Ki;
+    float _Kd;
+    float _floor;
+    float _deadzone;
+    int _dt;
+    float _error_previous;
+    float _integral;
+
+//private:
+
+};
+
+