kevin eccli / Mbed 2 deprecated Freescale_CupV4

Adaptation K22F

Dependencies:   mbed

Pid.h@0:6004a7230f87, 2014-12-16 (annotated)

Committer:
singularity
Date:
Tue Dec 16 15:52:17 2014 +0000
Revision:
0:6004a7230f87
Creation k22F

Who changed what in which revision?

UserRevisionLine numberNew contents of line
singularity 0:6004a7230f87 1 #ifndef _PID_H
singularity 0:6004a7230f87 2 #define _PID_H
singularity 0:6004a7230f87 3
singularity 0:6004a7230f87 4 #include "mbed.h"
singularity 0:6004a7230f87 5
singularity 0:6004a7230f87 6 struct Erreur {
singularity 0:6004a7230f87 7 float p;
singularity 0:6004a7230f87 8 float i;
singularity 0:6004a7230f87 9 float d;
singularity 0:6004a7230f87 10 };
singularity 0:6004a7230f87 11
singularity 0:6004a7230f87 12 class Pid
singularity 0:6004a7230f87 13 {
singularity 0:6004a7230f87 14 public:
singularity 0:6004a7230f87 15 Pid();
singularity 0:6004a7230f87 16 Pid(float Kp, float Ki, float Kd);
singularity 0:6004a7230f87 17 void setKp(float Kp);
singularity 0:6004a7230f87 18 void setKi(float Ki);
singularity 0:6004a7230f87 19 void setKd(float Kd);
singularity 0:6004a7230f87 20 float getCommande(float p_erreur, float i_erreur, float d_erreur);
singularity 0:6004a7230f87 21 float getCommande(Erreur e);
singularity 0:6004a7230f87 22
singularity 0:6004a7230f87 23 private:
singularity 0:6004a7230f87 24 float kp;
singularity 0:6004a7230f87 25 float ki;
singularity 0:6004a7230f87 26 float kd;
singularity 0:6004a7230f87 27
singularity 0:6004a7230f87 28 };
singularity 0:6004a7230f87 29
singularity 0:6004a7230f87 30 #endif