diff include/Pid.h @ 149:134bff10e561 ClockSync

Added simple one-variable one-measurement Kalman filter, Pid controller(which output is not used). Virtual clock is now much more precise and reactive for period. Still it is lagging behind a bit on the overall offset.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/Pid.h	Mon Sep 21 03:12:21 2015 +0100
@@ -0,0 +1,36 @@
+/*
+ * Pid.h
+ *
+ *  Created on: 14 Sep 2015
+ *      Author: giulio
+ */
+
+#ifndef PID_H_
+#define PID_H_
+#include <stdio.h>
+
+class Pid{
+private:
+	float integralError;
+	float pastError;
+	float error;
+	float differentialError;
+	float output;
+	float kp;
+	float ki;
+	float kd;
+	float ts;
+	int idleTimeout;
+	int timeoutCount;
+	void updateIntegralError();
+	void updateDifferentialError();
+public:
+	Pid();
+	float setError(float anError);
+	void setIdleTimeout(int aIdleTimeout);
+	float getOutput();
+};
+
+
+
+#endif /* PID_H_ */