hamnet70-gnuradio-legacy/gr-hamnet70/lib/pid_controller_impl.h

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/* -*- c++ -*- */
/*
* Copyright 2019 Thomas Kolb.
*
* This is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3, or (at your option)
* any later version.
*
* This software is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software; see the file COPYING. If not, write to
* the Free Software Foundation, Inc., 51 Franklin Street,
* Boston, MA 02110-1301, USA.
*/
#ifndef INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
#define INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
#include <hamnet70/pid_controller.h>
namespace gr {
namespace hamnet70 {
class pid_controller_impl : public pid_controller
{
private:
float d_kp;
float d_ki;
float d_kd;
float d_lastInput;
float d_iVal;
float d_postGain;
size_t d_interval;
size_t d_nextSampleIdx;
public:
pid_controller_impl(size_t interval, float p, float i, float d, float post_gain);
~pid_controller_impl();
// Where all the action really happens
int general_work(int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
} // namespace hamnet70
} // namespace gr
#endif /* INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H */