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29 lines
409 B
C++
29 lines
409 B
C++
#ifndef INCLUDE_PIDCONTROLLER_H
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#define INCLUDE_PIDCONTROLLER_H
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#include "dsp/dsptypes.h"
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class PIDController {
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private:
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Real m_p;
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Real m_i;
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Real m_d;
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Real m_int;
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Real m_diff;
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public:
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PIDController();
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void setup(Real p, Real i, Real d);
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Real feed(Real v)
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{
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m_int += v * m_i;
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Real d = m_d * (m_diff - v);
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m_diff = v;
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return (v * m_p) + m_int + d;
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}
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};
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#endif // INCLUDE_PIDCONTROLLER_H
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