Xavier Jannin
/
PETIT_robot
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Diff: Base/Asservissement.h
- Revision:
- 0:1cfd66c3a181
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Base/Asservissement.h Wed May 22 16:54:27 2019 +0000
@@ -0,0 +1,39 @@
+#ifndef ASSERVISSEMENT_H
+#define ASSERVISSEMENT_H
+
+#include "mbed.h"
+
+class Asservissement {
+ public:
+ // Constructeur:
+ Asservissement(float P, float I, float D);
+
+ // Setters:
+ void setP(float P);
+ void setI(float I);
+ void setD(float D);
+ void setPID(float P, float I, float D);
+
+ // Pointeurs:
+ float* getP_ptr();
+ float* getI_ptr();
+ float* getD_ptr();
+
+ // Asservissement:
+ void toValue(float value);
+
+ // Calcul d'asservissement:
+ float computeError(float value);
+
+ private:
+ // PID:
+ float m_P, m_I, m_D;
+
+ // Value:
+ float m_desired_value;
+
+ float m_erreur_prev, m_erreur_integral;
+
+};
+
+#endif
\ No newline at end of file