Diff: PID.h

Revision:

0:873985df821c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Sat Dec 14 12:23:58 2019 +0000
@@ -0,0 +1,39 @@
+#ifndef PID_H
+#define PID_H
+#include "mbed.h"
+
+/*sample code
+
+*/
+
+class PID
+{
+    public:
+        PID(Timer *T);
+        
+        float controlP(float target, float current, float new_Kp);
+        float controlPI(float target, float current);
+        float controlPID(float target, float current);
+        
+        void setParameter(float new_Kp, float new_Ki, float new_Kd);
+        void setParameter(float new_Ku, float new_Pu);
+        void setParameterPI(float new_Ku, float new_Pu);
+        void reset();
+
+        float Ku;
+        float Pu;
+        float Kp;
+        float Ti;
+        float Td;
+        float Ki;
+        float Kd;
+        
+        private:
+        Timer *timer;
+        float integral;
+        float last_error;
+        float current_time;
+        float last_time;
+};
+
+#endif
\ No newline at end of file