涂 桂旺 / AutomationElements

test

Fork of AutomationElements by TVZ Mechatronics Team

Diff: I.cpp

Revision:
0:3dd7aeceee65
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/I.cpp	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,30 @@
+#include "I.h"
+
+I::I() {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(1, 0.1);
+}
+
+I::I(double K_I_, double T_d_) {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(K_I_, T_d_);
+}
+
+void I::setParameters(double K_I_, double T_d_) {
+    if (T_d_ > 0)
+        T_d = T_d_;
+    else
+        T_d = 0.1;
+    K_I = K_I_;
+}
+
+double I::out() {
+    y = y_p1 + K_I * T_d * u_p1;
+    y_p1 = y;    
+    u_p1 = u;
+    return y;
+}
+
+void I::in(double u_) {
+    u = u_;
+}
\ No newline at end of file