PID
Fork of PID by
Diff: PID.h
- Revision:
- 0:7f9b4ca968ae
- Child:
- 1:4df4895863cd
diff -r 000000000000 -r 7f9b4ca968ae PID.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.h Thu Feb 18 04:25:52 2016 +0000 @@ -0,0 +1,44 @@ +#ifndef PID_H +#define PID_H + +#include "mbed.h" + +class PID{ + public: + + PID(float setKp, float setKi, float setKd, float setSampletime); + void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L); + void SetInputLimits(float setinputLimits_H, float setinputLimits_L); + void Compute(float setreference, float setfeedbackvalue); + + float Kp; + float Ki; + float Kd; + + float error[3]; + float output; + float reference; + + + + + float sampletime; + + + + private: + + bool Outputlimit_bool; + bool Inputlimit_bool; + + float outputLimits_H; + float outputLimits_L; + float inputLimits_H; + float inputLimits_L; + + float feedbackvalue; + // Ticker PID_timer; + +}; + +#endif /* PID_H*/ \ No newline at end of file