Diff: PIDController.hpp

Revision:

0:b5906c81772b

diff -r 000000000000 -r b5906c81772b PIDController.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDController.hpp	Sun Feb 05 16:31:58 2017 +0000
@@ -0,0 +1,33 @@
+#ifndef PIDCONTROLLER_H
+#define PIDCONTROLLER_H
+
+#include "Controller.hpp"
+#include "ControllerParams.hpp"
+
+#define TE      0.1
+#define dif(a,b)    (a-b)
+
+class PIDController : public Controller {
+
+    private:
+        float kp;
+        float ti;
+        float td;
+    
+    public:
+    
+        virtual void updateParams(ControllerParams&);   
+        virtual float calculateCmd(void) const;
+        virtual ~PIDController();
+
+        void setKp(float);
+        float getKp() const;
+        
+        void setTi(float);
+        float getTi() const;
+    
+        void setTd(float);
+        float getTd() const;        
+};
+
+#endif