mirror of https://github.com/rusefi/wideband.git
23 lines
354 B
C
23 lines
354 B
C
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#pragma once
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class Pid
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{
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public:
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Pid(float kP, float kI, int periodMs)
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: m_period(periodMs / 1000.0f)
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, m_kp(kP)
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, m_ki(kI)
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{
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}
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float GetOutput(float setpoint, float observation);
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private:
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const float m_period;
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const float m_kp;
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const float m_ki;
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float m_lastError;
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float m_integrator;
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};
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