mirror of
https://github.com/f4exb/sdrangel.git
synced 2024-11-16 05:11:49 -05:00
29 lines
409 B
C
29 lines
409 B
C
|
#ifndef INCLUDE_PIDCONTROLLER_H
|
||
|
|
#define INCLUDE_PIDCONTROLLER_H
|
||
|
|
|
||
|
|
#include "dsp/dsptypes.h"
|
||
|
|
|
||
|
|
class PIDController {
|
||
|
|
private:
|
||
|
|
Real m_p;
|
||
|
|
Real m_i;
|
||
|
|
Real m_d;
|
||
|
|
Real m_int;
|
||
|
|
Real m_diff;
|
||
|
|
|
||
|
|
public:
|
||
|
|
PIDController();
|
||
|
|
|
||
|
|
void setup(Real p, Real i, Real d);
|
||
|
|
|
||
|
|
Real feed(Real v)
|
||
|
|
{
|
||
|
|
m_int += v * m_i;
|
||
|
|
Real d = m_d * (m_diff - v);
|
||
|
|
m_diff = v;
|
||
|
|
return (v * m_p) + m_int + d;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // INCLUDE_PIDCONTROLLER_H
|