PID.h

00001 // -----------------------------------------------------------------------------
00002 #ifndef PID_H_
00003 #define PID_H_
00004 // -----------------------------------------------------------------------------
00005 #include <sstream>
00006 #include <iomanip>
00007 // -----------------------------------------------------------------------------
00016 class PID
00017 {
00018     public:
00019         PID();
00020         ~PID();
00021 
00028         void step( double X, double Z, double Ts );
00029         
00031         void reset();
00032 
00034         void recalc();
00035 
00036         double Y;   
00037         double Kc;  
00038         double Ti;  
00039         double Td;  
00041         double vlim;    
00045         double d0;
00046         double d1;
00047         double d2;
00048         double sub1;
00049         double sub2;
00050         double sub;
00051         double prevTs;
00052 
00053         friend std::ostream& operator<<(std::ostream& os, PID& p );
00054         
00055         friend std::ostream& operator<<(std::ostream& os, PID* p )
00056         {
00057             return os << (*p);
00058         }
00059 
00060     protected:
00061     private:
00062 };
00063 
00064 // -----------------------------------------------------------------------------
00065 #endif // PID_H_
00066 // -----------------------------------------------------------------------------