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37 lines
637 B
37 lines
637 B
#ifndef PID_h |
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#define PID_h |
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#include <avr/eeprom.h> |
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#include "WProgram.h" |
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//#define PID_SIZE 8 |
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class PID { |
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public: |
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PID(); |
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long get_pid(long err, long dt, float scaler); |
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void reset_I(); |
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void load_gains(int address); |
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void save_gains(int address); |
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void set_P(float p); |
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void set_I(float i); |
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void set_D(float d); |
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void set_imax(int imax); |
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void test(void); |
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float get_P(void); |
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float get_I(void); |
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float get_D(void); |
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int get_imax(void); |
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float _imax; // integrator max |
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float _integrator; // integrator value |
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float _last_error; // last error for derivative |
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float _kp; |
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float _ki; |
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float _kd; |
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private: |
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}; |
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#endif |