38 lines
685 B
C++
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_ */
|