Diff: PID.h

Revision:

1:d3e12393b71d

Parent:

0:1f4d5c5491b8

--- a/PID.h	Mon Oct 24 16:10:48 2016 +0000
+++ b/PID.h	Thu Jan 12 16:04:37 2017 +0000
@@ -5,7 +5,7 @@
 #include "math.h"
 
 #define Te 100
-#define SUPERIOR_MARGIN 100
+#define SUPERIOR_MARGIN 1
 #define INFERIOR_MARGIN 0 
 
 typedef struct
@@ -17,15 +17,21 @@
 class PIDClass
 {
      public:   
-        PIDClass(int _Kr, int _Ki, int _Kd, int _SetPoint);
+        PIDClass(float _Kr, float _Ki, float _Kd, float _SetPoint);
 
         float ComputeCommand(float inputADC);
+        float getKr(){return Kr;}
+        float getKi(){return Ki;}
+        float getKd(){return Kd;}
+        void setKr(float new_Kr){Kr = new_Kr;}
+        void setKi(float new_Ki){Ki = new_Ki;}
+        void setKd(float new_Kd){Kd = new_Kd;}
         
      private:
-        int Kr;
-        int Ki;
-        int Kd;   
-        int SetPoint;
+        float Kr;
+        float Ki;
+        float Kd;   
+        float SetPoint;
 };
 
 #endif
\ No newline at end of file