Cristi Stoican / Mbed 2 deprecated nRF51822_SimpleChat

PID

Dependencies:   BLE_API mbed nRF51822

Diff: PID.h

Revision:
0:1f4d5c5491b8
Child:
1:d3e12393b71d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Mon Oct 24 16:10:48 2016 +0000
@@ -0,0 +1,31 @@
+#ifndef _PID_H_
+#define _PID_H_
+
+#include "mbed.h"
+#include "math.h"
+
+#define Te 100
+#define SUPERIOR_MARGIN 100
+#define INFERIOR_MARGIN 0 
+
+typedef struct
+{
+    float last_error;
+    float integral;
+}PID_static;
+
+class PIDClass
+{
+     public:   
+        PIDClass(int _Kr, int _Ki, int _Kd, int _SetPoint);
+
+        float ComputeCommand(float inputADC);
+        
+     private:
+        int Kr;
+        int Ki;
+        int Kd;   
+        int SetPoint;
+};
+
+#endif
\ No newline at end of file