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#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H

#ifndef max
#define max(A,B) ((A)>(B) ? (A):(B))
#endif
#ifndef min
#define min(A,B) ((A)<(B) ? (A):(B))
#endif

class PID_controller {
public:
	double m_curError;

	PID_controller();
	~PID_controller();
	void setGains(double pGain, double iGain, double dGain);
	void setMax(float iMax, float iMin);
	void setLambda(double lambda);
	double update();
	
private:
	double m_prevError;
	double m_iSum;
	double m_lambda;
	double m_pGain;
	double m_dGain;
	double m_iGain;
	float m_iMax, m_iMin;
		
};

#endif //PID_CONTROLLER_H