PID_Controller.h
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00001 /*+-------------------------------------------------------------------------+
00002   |                       MultiVehicle simulator (libmvsim)                 |
00003   |                                                                         |
00004   | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
00005   | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
00006   | Distributed under GNU General Public License version 3                  |
00007   |   See <http://www.gnu.org/licenses/>                                    |
00008   +-------------------------------------------------------------------------+ */
00009 #pragma once
00010 
00011 namespace mvsim
00012 {
00013 struct PID_Controller
00014 {
00015         PID_Controller();
00016 
00017         double KP, KI, KD;
00018         double max_out;  
00019 
00021         double compute(double err, double dt);
00022 
00023    private:
00024         double lastOutput;
00025         double e_n, e_n_1, e_n_2;
00026 };
00027 }


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autogenerated on Thu Jun 6 2019 22:08:35