39 lines
644 B
C
39 lines
644 B
C
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/*
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PDControl.h
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(C)2013 kou029w - MIT License
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*/
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#ifndef PDControl_h
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#define PDControl_h
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#include <Arduino.h>
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class PDControl_c{
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public:
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PDControl_c();
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PDControl_c(int p, int d);
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PDControl_c(int p, int d, float decR);
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int operator()(int input);
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int lastInput;
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int diff;
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int Kp;
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int Kd;
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float diffDecayRate;
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};
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class FastPDControl_c{
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public:
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FastPDControl_c();
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FastPDControl_c(int p, int d);
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FastPDControl_c(int p, int d, uint8_t hl);
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int operator()(int input);
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int lastInput;
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int diff;
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int Kp;
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int Kd;
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uint8_t diffHalfLife;
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private:
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uint8_t _count;
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};
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#endif
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