Cristi Stoican / Mbed 2 deprecated nRF51822_SimpleChat

PID

Dependencies:   BLE_API mbed nRF51822

PID.h@1:d3e12393b71d, 2017-01-12 (annotated)

Committer:
stoicancristi
Date:
Thu Jan 12 16:04:37 2017 +0000
Revision:
1:d3e12393b71d
Parent:
0:1f4d5c5491b8 
v2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stoicancristi 0:1f4d5c5491b8 1 #ifndef _PID_H_
stoicancristi 0:1f4d5c5491b8 2 #define _PID_H_
stoicancristi 0:1f4d5c5491b8 3
stoicancristi 0:1f4d5c5491b8 4 #include "mbed.h"
stoicancristi 0:1f4d5c5491b8 5 #include "math.h"
stoicancristi 0:1f4d5c5491b8 6
stoicancristi 0:1f4d5c5491b8 7 #define Te 100
stoicancristi 1:d3e12393b71d 8 #define SUPERIOR_MARGIN 1
stoicancristi 0:1f4d5c5491b8 9 #define INFERIOR_MARGIN 0
stoicancristi 0:1f4d5c5491b8 10
stoicancristi 0:1f4d5c5491b8 11 typedef struct
stoicancristi 0:1f4d5c5491b8 12 {
stoicancristi 0:1f4d5c5491b8 13 float last_error;
stoicancristi 0:1f4d5c5491b8 14 float integral;
stoicancristi 0:1f4d5c5491b8 15 }PID_static;
stoicancristi 0:1f4d5c5491b8 16
stoicancristi 0:1f4d5c5491b8 17 class PIDClass
stoicancristi 0:1f4d5c5491b8 18 {
stoicancristi 0:1f4d5c5491b8 19 public:
stoicancristi 1:d3e12393b71d 20 PIDClass(float _Kr, float _Ki, float _Kd, float _SetPoint);
stoicancristi 0:1f4d5c5491b8 21
stoicancristi 0:1f4d5c5491b8 22 float ComputeCommand(float inputADC);
stoicancristi 1:d3e12393b71d 23 float getKr(){return Kr;}
stoicancristi 1:d3e12393b71d 24 float getKi(){return Ki;}
stoicancristi 1:d3e12393b71d 25 float getKd(){return Kd;}
stoicancristi 1:d3e12393b71d 26 void setKr(float new_Kr){Kr = new_Kr;}
stoicancristi 1:d3e12393b71d 27 void setKi(float new_Ki){Ki = new_Ki;}
stoicancristi 1:d3e12393b71d 28 void setKd(float new_Kd){Kd = new_Kd;}
stoicancristi 0:1f4d5c5491b8 29
stoicancristi 0:1f4d5c5491b8 30 private:
stoicancristi 1:d3e12393b71d 31 float Kr;
stoicancristi 1:d3e12393b71d 32 float Ki;
stoicancristi 1:d3e12393b71d 33 float Kd;
stoicancristi 1:d3e12393b71d 34 float SetPoint;
stoicancristi 0:1f4d5c5491b8 35 };
stoicancristi 0:1f4d5c5491b8 36
stoicancristi 0:1f4d5c5491b8 37 #endif