test
Dependencies: ESP8266 HCSR04 PID
Fork of car_test_v1 by
Diff: AutomationElement/I.cpp
- Revision:
- 3:9e51de1050a1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AutomationElement/I.cpp Sat Nov 25 03:36:58 2017 +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