test
Fork of AutomationElements by
I.cpp@2:a45cbb512c99, 2017-11-25 (annotated)
- Committer:
- tgw
- Date:
- Sat Nov 25 02:03:00 2017 +0000
- Revision:
- 2:a45cbb512c99
- Parent:
- 0:3dd7aeceee65
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tbjazic | 0:3dd7aeceee65 | 1 | #include "I.h" |
tbjazic | 0:3dd7aeceee65 | 2 | |
tbjazic | 0:3dd7aeceee65 | 3 | I::I() { |
tbjazic | 0:3dd7aeceee65 | 4 | u = y = u_p1 = y_p1 = 0; |
tbjazic | 0:3dd7aeceee65 | 5 | setParameters(1, 0.1); |
tbjazic | 0:3dd7aeceee65 | 6 | } |
tbjazic | 0:3dd7aeceee65 | 7 | |
tbjazic | 0:3dd7aeceee65 | 8 | I::I(double K_I_, double T_d_) { |
tbjazic | 0:3dd7aeceee65 | 9 | u = y = u_p1 = y_p1 = 0; |
tbjazic | 0:3dd7aeceee65 | 10 | setParameters(K_I_, T_d_); |
tbjazic | 0:3dd7aeceee65 | 11 | } |
tbjazic | 0:3dd7aeceee65 | 12 | |
tbjazic | 0:3dd7aeceee65 | 13 | void I::setParameters(double K_I_, double T_d_) { |
tbjazic | 0:3dd7aeceee65 | 14 | if (T_d_ > 0) |
tbjazic | 0:3dd7aeceee65 | 15 | T_d = T_d_; |
tbjazic | 0:3dd7aeceee65 | 16 | else |
tbjazic | 0:3dd7aeceee65 | 17 | T_d = 0.1; |
tbjazic | 0:3dd7aeceee65 | 18 | K_I = K_I_; |
tbjazic | 0:3dd7aeceee65 | 19 | } |
tbjazic | 0:3dd7aeceee65 | 20 | |
tbjazic | 0:3dd7aeceee65 | 21 | double I::out() { |
tbjazic | 0:3dd7aeceee65 | 22 | y = y_p1 + K_I * T_d * u_p1; |
tbjazic | 0:3dd7aeceee65 | 23 | y_p1 = y; |
tbjazic | 0:3dd7aeceee65 | 24 | u_p1 = u; |
tbjazic | 0:3dd7aeceee65 | 25 | return y; |
tbjazic | 0:3dd7aeceee65 | 26 | } |
tbjazic | 0:3dd7aeceee65 | 27 | |
tbjazic | 0:3dd7aeceee65 | 28 | void I::in(double u_) { |
tbjazic | 0:3dd7aeceee65 | 29 | u = u_; |
tbjazic | 0:3dd7aeceee65 | 30 | } |