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?
User | Revision | Line number | New 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 |