kevin eccli / Mbed 2 deprecated Freescale_CupV4

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Show/hide line numbers Pid.cpp Source File

Pid.cpp

00001 #include "Pid.h"
00002 
00003 Pid::Pid()
00004 {
00005     this->kp = 0;
00006     this->ki = 0;
00007     this->kd = 0;
00008 }
00009 
00010 Pid::Pid(float Kp, float Ki, float Kd)
00011 {
00012     this->kp = Kp;
00013     this->ki = Ki;
00014     this->kd = Kd;
00015 }
00016 
00017 void Pid::setKp(float Kp)
00018 {
00019     this->kp = Kp;
00020 }
00021 void Pid::setKi(float Ki)
00022 {
00023     this->ki = Ki;
00024 }
00025 
00026 void Pid::setKd(float Kd)
00027 {
00028     this->kd = Kd;
00029 }
00030 float Pid::getCommande(float p_erreur, float i_erreur, float d_erreur)
00031 {
00032     return this->kp * p_erreur +
00033         this->ki * i_erreur +
00034         this->kd * d_erreur;
00035 }
00036 
00037 float Pid::getCommande(Erreur e)
00038 {
00039     return this->getCommande(e.p,e.i,e.d);   
00040 }
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