kevin eccli / Mbed 2 deprecated Freescale_CupV4

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Show/hide line numbers Pid.h Source File

Pid.h

00001 #ifndef _PID_H
00002 #define _PID_H
00003 
00004 #include "mbed.h"
00005 
00006 struct Erreur {
00007     float p;
00008     float i;
00009     float d;
00010 };
00011 
00012 class Pid
00013 {
00014 public:
00015     Pid();
00016     Pid(float Kp, float Ki, float Kd);
00017     void setKp(float Kp);
00018     void setKi(float Ki);
00019     void setKd(float Kd);
00020     float getCommande(float p_erreur, float i_erreur, float d_erreur);
00021     float getCommande(Erreur e);
00022     
00023 private:
00024     float kp;
00025     float ki;
00026     float kd;
00027     
00028 };
00029 
00030 #endif
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