root / control / pid_control.h @ 901514c8
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#ifndef _PID_CONTROL_H_
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#define _PID_CONTROL_H_
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class PID_control |
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{ |
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public:
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PID_control(int p_term, int d_term, int i_term, float goal); |
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PID_control(int p_term, int d_term, int i_term); |
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void change_goal(float goal); |
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float pid(float input); |
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private:
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int k_p;
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int k_i;
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int k_d;
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float set_config;
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float error;
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float prev_error;
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float P_err;
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float I_err;
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float D_err;
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}; |
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#endif
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