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https://github.com/bjoernellens1/cps_microros_imu.git
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39 lines
1.1 KiB
C
39 lines
1.1 KiB
C
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// Copyright (c) 2021 Juan Miguel Jimeno
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef PID_H
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#define PID_H
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#include "Arduino.h"
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class PID
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{
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public:
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PID(float min_val, float max_val, float kp, float ki, float kd);
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double compute(float setpoint, float measured_value);
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void updateConstants(float kp, float ki, float kd);
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private:
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float min_val_;
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float max_val_;
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float kp_;
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float ki_;
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float kd_;
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double integral_;
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double derivative_;
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double prev_error_;
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};
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#endif
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