Diff: Controller/SpeedController.h

Revision:

0:a35213e1e14e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller/SpeedController.h	Mon May 03 07:22:52 2021 +0000
@@ -0,0 +1,37 @@
+#ifndef MBED_SPEEDCONTROLLER_H
+#define MBED_SPEEDCONTROLLER_H
+
+#include "mbed.h"
+
+
+class PIDController
+{
+private:
+    float kp;
+    float ki;
+    float kd;
+    float max_windup;
+    float umin;
+    float umax;
+
+    float m_last_timestamp;
+    float m_set_point;
+    float m_start_time;
+    float m_error_sum;
+    float m_last_error;
+    float m_last_d;
+
+public:
+    PIDController(float kp, float ki, float kd, float max_windup,
+                             float start_time,float umin, float umax);
+    //void reset();
+    float update(float measured_value, float timestamp);
+    void setTarget(float target);
+    void setKp(float kp);
+    void setKi(float ki);
+    void setKd(float kd);
+    void setMaxWindup(float max_windup);
+    float getLastTimeStamp();
+};
+
+#endif