35 lines
624 B
C++
35 lines
624 B
C++
/**
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* @file pid.h
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*
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* @date Sep 16, 2014
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* @author Andrey Belomutskiy, (c) 2012-2016
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*/
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#ifndef PID_H_
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#define PID_H_
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#include "engine_configuration_generated_structures.h"
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class Pid {
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public:
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Pid(pid_s *pid, float minResult, float maxResult);
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float getValue(float target, float input, float dTime);
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void updateFactors(float pFactor, float iFactor, float dFactor);
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void reset(void);
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float getP(void);
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float getI(void);
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float getD(void);
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float getIntegration(void);
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float getPrevError(void);
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private:
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pid_s *pid;
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float minResult;
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float maxResult;
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float iTerm;
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float prevError;
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};
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#endif /* PID_H_ */
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