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ProfiledPID.h
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#ifndef PROFILED_PID_H_
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#define PROFILED_PID_H_
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#include "PID.h"
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#include "MotionProfile.h"
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#include "Timer.h"
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class
ProfiledPID
:
public
PID
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{
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public
:
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ProfiledPID
(
MotionProfile
*profile,
double
p_gain,
double
i_gain,
double
d_gain,
double
ff_gain = 1.0,
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double
i_decay = 0.5,
bool
feedforward =
true
);
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ProfiledPID
(
MotionProfile
*profile);
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virtual
~
ProfiledPID
();
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virtual
double
Update
(
double
dt);
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virtual
void
SetSetpoint
(
double
setpoint);
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void
SetMotionProfile(
MotionProfile
*profile);
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private
:
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double
m_setpoint;
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MotionProfile
* m_profile;
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Timer m_timer;
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};
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#endif
Control
ProfiledPID.h
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