view 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.

/*
 * 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_ */