Diff: I.h

Revision:

0:3dd7aeceee65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/I.h	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef I_H
+#define I_H
+
+#include "mbed.h"
+
+/** Transfer function of an integrator.
+ * G(s) = Y(s) / U(s) = K_I / s
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class I {
+    public:
+        /** Default constructor.
+         * K_I = 1, sampleTime = 0.1
+         */
+        I();
+        /** Integrator gain and sample time in seconds. */
+        I(double K_I, double sampleTime);
+        /** Update integrator gain and sample time. */
+        void setParameters(double K_I, double sampleTime);
+        /** Calculate the output y. */
+        double out();
+        /** Set the input u. */
+        void in(double u);
+    private:
+        double K_I, T_d, y, y_p1, u, u_p1;
+};
+
+#endif // I_H
\ No newline at end of file