Tristan Vlogman / controller

Generates a PID controller with parameters K_p, K_d and K_i

Dependents:   locomotion_pid_action_refactor_EMG

controller.cpp

Committer:
tvlogman
Date:
2017-10-16
Revision:
0:229271adbb37

File content as of revision 0:229271adbb37:

#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;
    }