Tristan Vlogman / controller

Generates a PID controller with parameters K_p, K_d and K_i

Dependents:   locomotion_pid_action_refactor_EMG

controller.cpp@0:229271adbb37, 2017-10-16 (annotated)

Committer:
tvlogman
Date:
Mon Oct 16 09:41:19 2017 +0000
Revision:
0:229271adbb37
Working controller library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tvlogman 0:229271adbb37 1 #include "controller.h"
tvlogman 0:229271adbb37 2 #include "mbed.h"
tvlogman 0:229271adbb37 3
tvlogman 0:229271adbb37 4 // Member function definitions
tvlogman 0:229271adbb37 5 controller::controller(float k_p, float k_d, float k_i):k_p(k_p), k_d(k_d), k_i(k_i){
tvlogman 0:229271adbb37 6
tvlogman 0:229271adbb37 7 }
tvlogman 0:229271adbb37 8
tvlogman 0:229271adbb37 9 float controller::control(float e_pos, float e_der, float e_int){
tvlogman 0:229271adbb37 10 float motorValue;
tvlogman 0:229271adbb37 11 motorValue = k_p*e_pos + k_d*e_der + k_i*e_int;
tvlogman 0:229271adbb37 12 return motorValue;
tvlogman 0:229271adbb37 13 }
tvlogman 0:229271adbb37 14
tvlogman 0:229271adbb37 15