32 lines
No EOL
582 B
C++
32 lines
No EOL
582 B
C++
#ifndef COMPLIB_SERVER_PID_HPP
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#define COMPLIB_SERVER_PID_HPP
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#include <chrono>
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class PID {
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public:
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PID();
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PID(double P, double I, double D, double ramp, double limit);
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~PID() = default;
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double operator()(double setpoint, double process_variable);
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double P = 1;
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double I = 0;
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double D = 0;
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double setpoint_ramp = 0;
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double limit = 0;
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private:
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typedef std::chrono::steady_clock clock;
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#
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double error_prev = 0;
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double setpoint_prev = 0;
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double integral_prev = 0;
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clock::time_point timestamp_prev = clock::now();
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};
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#endif // COMPLIB_SERVER_PID_HPP
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