Diff: pidcontrol.h

Revision:

2:f873deba2305

Parent:

1:45f1573d65a1

Child:

3:edaab92dbd2f

--- a/pidcontrol.h	Mon Mar 21 20:21:12 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,49 +0,0 @@
-#ifndef _PIDCONTROL_H_
-#define _PIDCONTROL_H_
-
-#include "mbed.h"
-
-class PID{
-    public:
-        PID();
-        PID(float p,float i,float d);
-        void setGoal(float ref);
-        //float getGoal();    
-        void setCurrent(float sensor);
-        float compute();
-        
-        void setMargin(float gap);
-        float getMargin();
-        void setIntegalLimit(float limit);
-        float getIntegalLimit();
-        
-        float getErrorNow();
-        float getErrorLast();
-        float getErrorDiff();
-        float getErrorIntegal();
-        
-        void setKp(float);
-        void setKi(float);
-        void setKd(float);
-        
-        float getKp();
-        float getKi();
-        float getKd();
-        
-    private:
-        float e_n;      //error now
-        float e_n_1;    //error last time
-        float e_i;      //error integal
-        float il;       //integal limit
-        float margin;    //output margin
-        
-        float Kp,Ki,Kd;    
- 
-        float setpoint;
-        float input;    
-        float output;
-};
-    
-
-
-#endif