Xavier Jannin / Mbed 2 deprecated PETIT_robot

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Dependencies:   mbed

Base/Asservissement.h@0:1cfd66c3a181, 2019-05-22 (annotated)

Committer:
xav_jann1
Date:
Wed May 22 16:54:27 2019 +0000
Revision:
0:1cfd66c3a181
Premiere version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xav_jann1 0:1cfd66c3a181 1 #ifndef ASSERVISSEMENT_H
xav_jann1 0:1cfd66c3a181 2 #define ASSERVISSEMENT_H
xav_jann1 0:1cfd66c3a181 3
xav_jann1 0:1cfd66c3a181 4 #include "mbed.h"
xav_jann1 0:1cfd66c3a181 5
xav_jann1 0:1cfd66c3a181 6 class Asservissement {
xav_jann1 0:1cfd66c3a181 7 public:
xav_jann1 0:1cfd66c3a181 8 // Constructeur:
xav_jann1 0:1cfd66c3a181 9 Asservissement(float P, float I, float D);
xav_jann1 0:1cfd66c3a181 10
xav_jann1 0:1cfd66c3a181 11 // Setters:
xav_jann1 0:1cfd66c3a181 12 void setP(float P);
xav_jann1 0:1cfd66c3a181 13 void setI(float I);
xav_jann1 0:1cfd66c3a181 14 void setD(float D);
xav_jann1 0:1cfd66c3a181 15 void setPID(float P, float I, float D);
xav_jann1 0:1cfd66c3a181 16
xav_jann1 0:1cfd66c3a181 17 // Pointeurs:
xav_jann1 0:1cfd66c3a181 18 float* getP_ptr();
xav_jann1 0:1cfd66c3a181 19 float* getI_ptr();
xav_jann1 0:1cfd66c3a181 20 float* getD_ptr();
xav_jann1 0:1cfd66c3a181 21
xav_jann1 0:1cfd66c3a181 22 // Asservissement:
xav_jann1 0:1cfd66c3a181 23 void toValue(float value);
xav_jann1 0:1cfd66c3a181 24
xav_jann1 0:1cfd66c3a181 25 // Calcul d'asservissement:
xav_jann1 0:1cfd66c3a181 26 float computeError(float value);
xav_jann1 0:1cfd66c3a181 27
xav_jann1 0:1cfd66c3a181 28 private:
xav_jann1 0:1cfd66c3a181 29 // PID:
xav_jann1 0:1cfd66c3a181 30 float m_P, m_I, m_D;
xav_jann1 0:1cfd66c3a181 31
xav_jann1 0:1cfd66c3a181 32 // Value:
xav_jann1 0:1cfd66c3a181 33 float m_desired_value;
xav_jann1 0:1cfd66c3a181 34
xav_jann1 0:1cfd66c3a181 35 float m_erreur_prev, m_erreur_integral;
xav_jann1 0:1cfd66c3a181 36
xav_jann1 0:1cfd66c3a181 37 };
xav_jann1 0:1cfd66c3a181 38
xav_jann1 0:1cfd66c3a181 39 #endif