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PID_Cntrl.h
00001 #ifndef PID_CNTRL_H_ 00002 #define PID_CNTRL_H_ 00003 00004 // PID Controller Class 00005 class PID_Cntrl 00006 { 00007 public: 00008 00009 PID_Cntrl(float Kp, float Ki, float Kd, float Tf, float Ts, float uMin, float uMax); 00010 00011 float operator()(float error) { 00012 return update((double)error); 00013 } 00014 00015 virtual ~PID_Cntrl(); 00016 00017 void reset(float initValue); 00018 float update(double error); 00019 00020 private: 00021 00022 // controller parameters (member variables) 00023 float Kp, Ki, Kd, Tf, Ts, uMin, uMax; 00024 00025 // storage for signals (member variables) 00026 float e_old, uI_old, uD_old; 00027 }; 00028 00029 #endif 00030
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