Diff: PI.h

Revision:

2:a45cbb512c99

Parent:

1:b9e11da0f2eb

--- a/PI.h	Thu Jan 22 12:44:37 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-#ifndef PI_H
-#define PI_H
-
-#include "mbed.h"
-
-/** Data type for choosing the operation mode of the controller ("automatic" or "manual"). */
-enum Mode {automatic, manual};
-
-/** Transfer function of a PI controller with output limitation, anti-windup and bumpless automatic and manual mode.
- * G_C(s) = U_C(s) / E(s) = K_C ( 1 + 1 / (T_I s) ) = K_C (1 + T_I s) / (T_I s)
- *
- * K_C is the controller gain, and T_I is the controller integral time constant in seconds.
- *
- * Author(s): TVZ Mechatronics Team
- *
- */
-class PI {
-    public:
-        /** Default constructor.
-         * K_C = 1, T_I = 1 s, sampleTime = 0.1 s.
-         */
-        PI();
-        /** PI controller gain, integral time constant in seconds and sample time in seconds. */
-        PI(double K_C, double T_I, double sampleTime);
-        /** Update PI controller gain, integral time constant and sample time. */
-        void setParameters(double K_C, double T_I, double sampleTime);
-        /** Set the controller lower and upper output limit. */
-        void setOutputLimits(double lowerOutputLimit, double upperOutputLimit);
-        /** Set the operation mode to "automatic" or "manual". */
-        void setOperationMode (Mode operationMode);
-        /** Set the controller output manually. */
-        void setOutputManually(double u_C);
-        /** Calculate the controller output u_C. */
-        double out();
-        /** Set the PI controller input e = SP - PV (setpoint - process value). */
-        void in(double e);
-    private:
-        double K_R, T_I, T_d, y, y_p1, u, u_p1, y_max, y_min, y_manual;
-        Mode operationMode;
-};
-
-#endif // PI_H
\ No newline at end of file