Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

PIDController.hpp

Committer:
sim642
Date:
2016-03-29
Revision:
2:cf0147952fb9
Child:
3:2235787e78c4

File content as of revision 2:cf0147952fb9:

#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H

#include "ErrorController.hpp"
#include "mbed.h"

class PIDController : public ErrorController
{
public:
    PIDController();
    virtual ~PIDController();

    virtual void reset();
    virtual float step(float error);

    float Kp, Ki, Kd;
    void set(float nKp = 0, float nKi = 0, float nKd = 0);

private:
    Timer timer;

    float prev_error;
    float integral;
};

#endif // PID_CONTROLLER_H