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BlockIntegral.hpp
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33 
34 /**
35  * @file blocks.h
36  *
37  * Controller library code
38  */
39 
40 #pragma once
41 
42 #include "BlockLimitSym.hpp"
43 
44 #include "block/Block.hpp"
45 #include "block/BlockParam.hpp"
46 
47 #include "matrix/math.hpp"
48 
49 namespace control
50 {
51 
52 /**
53  * A rectangular integrator.
54  * A limiter is built into the class to bound the
55  * integral's internal state. This is important
56  * for windup protection.
57  * @see Limit
58  */
60 {
61 public:
62 // methods
63  BlockIntegral(SuperBlock *parent, const char *name) :
64  SuperBlock(parent, name),
65  _y(0),
66  _limit(this, "") {}
67  virtual ~BlockIntegral() = default;
68  float update(float input);
69 // accessors
70  float getY() {return _y;}
71  float getMax() {return _limit.getMax();}
72  void setY(float y) {_y = y;}
73 protected:
74 // attributes
75  float _y; /**< previous output */
76  BlockLimitSym _limit; /**< limiter */
77 };
78 
79 } // namespace control
BlockLimitSym _limit
limiter
A symmetric limiter/ saturation.
Definition: I2C.hpp:51
Controller library code.
float _y
previous output
A rectangular integrator.
Controller library code.
const char * name
Definition: tests_main.c:58
BlockIntegral(SuperBlock *parent, const char *name)