Diff: PI.cpp

Revision:

2:a45cbb512c99

Parent:

1:b9e11da0f2eb

--- a/PI.cpp	Thu Jan 22 12:44:37 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-#include "PI.h"
-
-PI::PI() {
-    u = y = u_p1 = y_p1 = 0;
-    setParameters(1, 1, 0.1);
-    setOutputLimits(0, 1);
-    setOperationMode(automatic);
-}
-
-PI::PI(double K_R_, double T_I_, double T_d_) {
-    u = y = u_p1 = y_p1 = 0;
-    setParameters(K_R_, T_I_, T_d_);
-    setOutputLimits(0, 1);
-    setOperationMode(automatic);
-}
-
-void PI::setParameters(double K_R_, double T_I_, double T_d_) {
-    if (T_d_ > 0)
-        T_d = T_d_;
-    else
-        T_d = 0.1;
-    if (T_I_ > 0)
-        T_I = T_I_;
-    else
-        T_I = 1;
-    K_R = K_R_;
-}
-
-void PI::setOutputLimits(double lowerOutputLimit, double upperOutputLimit) {
-    if (upperOutputLimit > lowerOutputLimit) {
-        y_min = lowerOutputLimit;
-        y_max = upperOutputLimit;
-    }
-}
-
-void PI::setOperationMode(Mode newOperationMode) {
-    // Bumpless transfer from manual to automatic mode
-    if (operationMode == manual && newOperationMode == automatic) {
-        y = y_p1 = y_manual;
-        u = u_p1 = 0;
-    }
-    // Bumpless transfer from automatic to manual mode
-    else if (operationMode == automatic && newOperationMode == manual) {
-        y_manual = y;
-    }
-    operationMode = newOperationMode;
-}
-
-void PI::setOutputManually(double u_C) {
-    y_manual = u_C;
-}
-
-double PI::out() {
-    if (operationMode == automatic) {
-        y = y_p1 + K_R * u + K_R * (T_d / T_I - 1) * u_p1;
-    } else if (operationMode == manual) {
-        y = y_manual;
-    }
-    
-    if (y > y_max)
-        y = y_max;
-    else if (y < y_min)
-        y = y_min;
-    
-    y_p1 = y;    
-    u_p1 = u;
-    return y;
-}
-
-void PI::in(double u_) {
-    u = u_;
-}
\ No newline at end of file