44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
#ifndef PID_H
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#define PID_H
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#include "time_utils.h"
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#include "foc_utils.h"
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/**
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* PID controller class
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*/
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class PIDController
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{
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public:
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/**
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*
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* @param P - Proportional gain
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* @param I - Integral gain
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* @param D - Derivative gain
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* @param ramp - Maximum speed of change of the output value
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* @param limit - Maximum output value
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*/
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PIDController(float P, float I, float D, float ramp, float limit);
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~PIDController() = default;
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float operator() (float error);
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float P; //!< Proportional gain
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float I; //!< Integral gain
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float D; //!< Derivative gain
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float output_ramp; //!< Maximum speed of change of the output value
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float limit; //!< Maximum output value
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float error_prev; //!< last tracking error value
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protected:
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//float error_prev; //!< last tracking error value
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float output_prev; //!< last pid output value
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float integral_prev; //!< last integral component value
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unsigned long timestamp_prev; //!< Last execution timestamp
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};
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#endif // PID_H
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//Lyf对此进行了修改，将error_prev从protected移至public，便于清楚积分影响
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