kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Add get_error_sum and reset_error_sum methods
rodzic
32c10482d9
commit
f6b8c2ff37
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@ -27,4 +27,12 @@ namespace pimoroni {
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return (error * kp) + (error_sum * ki) - (value_change * kd);
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}
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}
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float PID::get_error_sum() const {
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return error_sum;
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}
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void PID::reset_error_sum() {
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error_sum = 0.0f;
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}
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}
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@ -14,6 +14,9 @@ namespace pimoroni {
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float calculate(float value);
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float calculate(float value, float value_change);
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[[nodiscard]] float get_error_sum() const;
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void reset_error_sum();
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public:
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float kp;
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float ki;
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