Tristan Vlogman / controller

Generates a PID controller with parameters K_p, K_d and K_i

Dependents:   locomotion_pid_action_refactor_EMG

controller.h@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 #ifndef CONTROLLER_H
tvlogman 0:229271adbb37 2 #define CONTROLLER_H
tvlogman 0:229271adbb37 3
tvlogman 0:229271adbb37 4 #include "mbed.h"
tvlogman 0:229271adbb37 5
tvlogman 0:229271adbb37 6 class controller {
tvlogman 0:229271adbb37 7 public:
tvlogman 0:229271adbb37 8 controller(float k_p, float k_d, float k_i);
tvlogman 0:229271adbb37 9 float control(float e_pos, float e_der, float e_int);
tvlogman 0:229271adbb37 10
tvlogman 0:229271adbb37 11 private:
tvlogman 0:229271adbb37 12 float k_p;
tvlogman 0:229271adbb37 13 float k_d;
tvlogman 0:229271adbb37 14 float k_i;
tvlogman 0:229271adbb37 15 };
tvlogman 0:229271adbb37 16 #endif