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uncrustify libraries/AC_PID/AC_PID.h

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uncrustify 2012-08-16 22:37:26 -07:00 committed by Pat Hickey
parent 66ab46fa88
commit 7aea7dc825
1 changed files with 104 additions and 84 deletions
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50
libraries/AC_PID/AC_PID.h Executable file → Normal file
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@ -25,10 +25,10 @@ public:
/// @param initial_imax Initial value for the imax term.4
///
AC_PID(
const float &initial_p = 0.0,
const float &initial_i = 0.0,
const float &initial_d = 0.0,
const int16_t &initial_imax = 0.0)
const float & initial_p = 0.0,
const float & initial_i = 0.0,
const float & initial_d = 0.0,
const int16_t & initial_imax = 0.0)
{
_kp = initial_p;
_ki = initial_i;
@ -72,25 +72,45 @@ public:
//@{
/// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p,
void operator () (const float p,
const float i,
const float d,
const int16_t imaxval) {
_kp = p; _ki = i; _kd = d; _imax = abs(imaxval);
}
float kP() const { return _kp.get(); }
float kI() const { return _ki.get(); }
float kD() const { return _kd.get(); }
int16_t imax() const { return _imax.get(); }
float kP() const {
return _kp.get();
}
float kI() const {
return _ki.get();
}
float kD() const {
return _kd.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); }
void kD(const float v) { _kd.set(v); }
void imax(const int16_t v) { _imax.set(abs(v)); }
void kP(const float v) {
_kp.set(v);
}
void kI(const float v) {
_ki.set(v);
}
void kD(const float v) {
_kd.set(v);
}
void imax(const int16_t v) {
_imax.set(abs(v));
}
float get_integrator() const { return _integrator; }
void set_integrator(float i) { _integrator = i; }
float get_integrator() const {
return _integrator;
}
void set_integrator(float i) {
_integrator = i;
}
static const struct AP_Param::GroupInfo var_info[];