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test
Dependencies: ESP8266 HCSR04 PID
Fork of car_test_v1 by
AutomationElement/PDT1.h
- Committer:
- tgw
- Date:
- 2017-11-25
- Revision:
- 3:9e51de1050a1
File content as of revision 3:9e51de1050a1:
#ifndef PDT1_H #define PDT1_H #include "mbed.h" /** Transfer function of a PDT1 form. * G(s) = Y(s) / U(s) = K * (1 + T_D s) / (1 + T_1 s) * * Author(s): TVZ Mechatronics Team * */ class PDT1 { public: /** Default constructor. * K = 1, T_1 = 1, T_D = 0.5, sampleTime = 0.1 */ PDT1(); /** PDT1 transfer function parameters and sample time in seconds. */ PDT1(double K, double T_1, double T_D, double sampleTime); /** Update PDT1 transfer function parameters and sample time. */ void setParameters(double K, double T_1, double T_D, double sampleTime); /** Calculate the output y. */ double out(); /** Set the input u. */ void in(double u); private: double y, y_p1; double u, u_p1; double K, T_1, T_D, T_d, a_1, b_0, b_1; }; #endif // PDT1_H