48 PidControl(
double kp,
double ki,
double kd,
double min,
double max) {
54 void setRange(
double min,
double max) {
min_ = std::min(min,max);
max_ = std::max(min,max); }
59 double step(
double error,
double sample_time) {
62 double integral =
int_val_ + error * sample_time;
63 double derivative = (error -
last_error_) / sample_time;
68 }
else if (y <
min_) {
86 #endif // PIDCONTROL_H
void setRange(double min, double max)
void setParams(double kp, double ki, double kd, double min, double max)
PidControl(double kp, double ki, double kd, double min, double max)
void setGains(double kp, double ki, double kd)
double step(double error, double sample_time)