sangbae Kim / QEI

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Dependents:   BilateralTeleoperation

PID.h

Committer:
sangbae
Date:
2022-09-26
Revision:
1:f39ce45861fb

File content as of revision 1:f39ce45861fb:

//Ben Katz, 2013
//PID Controller class

#include "mbed.h"
#ifndef PID_H
#define PID_H

class PIDController{
public:

PIDController(float desired_position, float desired_torque, float p_gainp, float d_gainp, float i_gain_p, float p_gain_c, float i_gain_c);
~PIDController();

float goal_position;
float current_position;

float kp_p;
float kd_p;
float ki_p;

float kp_c;
float ki_c;
float c_error;
float error_sum;
float command;
float torque_command;
float c_torque;

float error;
float old_error;
float integral_error;


int counter;

Timer timer;

float torque;
float direction;

float past_currents [5];

float command_position(void);
float command_torque(void);
float command_position_tm(void);
private:






};
#endif