kevin eccli / Mbed 2 deprecated Freescale_CupV4

Adaptation K22F

Dependencies:   mbed

Diff: Pid.cpp

Revision:
0:6004a7230f87
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pid.cpp	Tue Dec 16 15:52:17 2014 +0000
@@ -0,0 +1,40 @@
+#include "Pid.h"
+
+Pid::Pid()
+{
+    this->kp = 0;
+    this->ki = 0;
+    this->kd = 0;
+}
+
+Pid::Pid(float Kp, float Ki, float Kd)
+{
+    this->kp = Kp;
+    this->ki = Ki;
+    this->kd = Kd;
+}
+
+void Pid::setKp(float Kp)
+{
+    this->kp = Kp;
+}
+void Pid::setKi(float Ki)
+{
+    this->ki = Ki;
+}
+
+void Pid::setKd(float Kd)
+{
+    this->kd = Kd;
+}
+float Pid::getCommande(float p_erreur, float i_erreur, float d_erreur)
+{
+    return this->kp * p_erreur +
+        this->ki * i_erreur +
+        this->kd * d_erreur;
+}
+
+float Pid::getCommande(Erreur e)
+{
+    return this->getCommande(e.p,e.i,e.d);   
+}
\ No newline at end of file