Diff: Controller.h

Revision:

0:14b64813c04d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Wed Jun 29 00:02:00 2016 +0000
@@ -0,0 +1,76 @@
+//controller class
+class Controller
+{
+
+protected:
+
+public:
+
+    int data[3];
+    int output;
+    int P_Val;
+    int I_Val;
+    int D_Val;
+
+    Controller(int dummy) {
+        output = 0;
+        P_Val = 0;
+        I_Val = 0;
+        D_Val = 0;
+        for(int i = 0; i < 3; i++) {
+            data[i] = 0;
+        }
+    }
+
+    void updateData(int val) {
+        //first, update the DataReg
+        updateDataReg(val);
+        //calculate proportional-value
+        calculate_P_Val();
+        //calculate Integrate-value
+        calculate_I_Val();
+        //calculate differentiate-value
+        calculate_D_Val();
+        //calculate output
+        calculateOutput();
+    }
+
+    int getOutput(void) {
+        return output;
+    }
+
+    void updateDataReg(int val) {
+        data[0] = data[1];
+        data[1] = data[2];
+        data[2] = val;
+    }
+
+    void calculate_P_Val(void) {
+        P_Val = data[2]/4;
+    }
+
+    void calculate_I_Val(void) {
+        //increase the correction if the current value is + (or - ) over a long timespan
+        if(data[2] >= 0) {
+            I_Val++;
+        } else {
+            I_Val--;
+        }
+
+    }
+
+    void calculate_D_Val(void) {
+        //current X-coordinate - last X-coordinate = direction in which the ball is moving
+        //example: 3 - 4 = -1
+        //ball moved from 4 to 3. its moving in the minus direction.
+        //a minus value will get the correction-Value down.
+        D_Val = (data[2] - data[1])/3;
+    }
+
+    void calculateOutput() {
+        output = P_Val + D_Val + I_Val;
+    }
+
+
+};
+