Tristan Vlogman
Generates a PID controller with parameters K_p, K_d and K_i
Dependents: locomotion_pid_action_refactor_EMG
Diff: controller.cpp
- Revision:
- 0:229271adbb37
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/controller.cpp Mon Oct 16 09:41:19 2017 +0000
@@ -0,0 +1,15 @@
+#include "controller.h"
+#include "mbed.h"
+
+// Member function definitions
+controller::controller(float k_p, float k_d, float k_i):k_p(k_p), k_d(k_d), k_i(k_i){
+
+ }
+
+float controller::control(float e_pos, float e_der, float e_int){
+ float motorValue;
+ motorValue = k_p*e_pos + k_d*e_der + k_i*e_int;
+ return motorValue;
+ }
+
+
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