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28 lines
677 B
C++
28 lines
677 B
C++
/*****************************************************************************
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PURPOSE: ( PID Class H File )
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*****************************************************************************/
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#ifndef PIDController_HH
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#define PIDController_HH
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class PIDController {
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public:
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double Kprop;
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double Kderv;
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double Kinteg;
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double Dt;
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double k;
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double error;
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double integral;
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double out_max;
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double out_min;
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double previous_error;
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double prev_setpoint_value;
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bool integration_enabled;
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PIDController(double kp, double ki, double kd, double omax, double omin, double dt, double tc);
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double getOutput(double setpoint_value, double measured_value);
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};
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#endif
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