28 lines
462 B
C++
28 lines
462 B
C++
#pragma once
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//#include <stdint.h>
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#include "pico/stdlib.h"
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//include "common/pimoroni_common.hpp"
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namespace pimoroni {
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class PID {
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public:
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PID();
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PID(float kp, float ki, float kd, float sample_rate);
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float calculate(float value);
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float calculate(float value, float value_change);
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public:
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float kp;
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float ki;
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float kd;
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float setpoint;
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private:
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float error_sum;
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float last_value;
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float sample_rate;
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};
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} |