Yuri De Stefani / Mbed 2 deprecated VerticalController

Controlador vertical

Dependencies:   mbed

VerticalController.h@0:115db3c33311, 2018-10-24 (annotated)

Committer:
yurindes
Date:
Wed Oct 24 11:58:36 2018 +0000
Revision:
0:115db3c33311
controlador vertical :)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yurindes 0:115db3c33311 1 # ifndef VerticalController_h
yurindes 0:115db3c33311 2 # define VerticalController_h
yurindes 0:115db3c33311 3 # include "mbed.h"
yurindes 0:115db3c33311 4 # include "Parameters.h"
yurindes 0:115db3c33311 5 // Vertical controller class
yurindes 0:115db3c33311 6 class VerticalController
yurindes 0:115db3c33311 7 {
yurindes 0:115db3c33311 8 public:
yurindes 0:115db3c33311 9 // Class constructor
yurindes 0:115db3c33311 10 VerticalController () ;
yurindes 0:115db3c33311 11 // Control total thrust force given vertical position reference and estimation
yurindes 0:115db3c33311 12 void control ( float z_r , float z, float w);
yurindes 0:115db3c33311 13 // Thrust force (N)
yurindes 0:115db3c33311 14 float f_t;
yurindes 0:115db3c33311 15 private:
yurindes 0:115db3c33311 16 // Last vertical position (m) error
yurindes 0:115db3c33311 17 float z_e_last ;
yurindes 0:115db3c33311 18 float kp, kd;
yurindes 0:115db3c33311 19 };
yurindes 0:115db3c33311 20 # endif