TeensyPwm/control.h
2015-02-15 18:27:54 +01:00

38 lines
685 B
C++

/*
* control.h
*
* Created on: 24.09.2012
* Author: wn
*/
#ifndef CONTROL_H_
#define CONTROL_H_
#include <stdint.h>
class Control {
public:
Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD);
float cycle(float vDes, float vCur) volatile;
float getP() volatile { return m_kP; };
void setP(float p) volatile { m_kP = p; };
float getI() volatile { return m_kI; };
void setI(float i) volatile { m_kI = i; };
float getD() volatile { return m_kD; };
void setD(float d) volatile { m_kD = d; };
private:
float m_rOld;
float m_eOld;
float m_eOld2;
float m_rMin;
float m_rMax;
float m_kP;
float m_kI;
float m_kD;
};
#endif /* CONTROL_H_ */