not include takeoff
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of AutoFlight2017_now2 by
pid/pid.h
- Committer:
- HARUKIDELTA
- Date:
- 2018-09-09
- Revision:
- 2:f5f33eb8d44b
- Parent:
- 0:92024886c0be
File content as of revision 2:f5f33eb8d44b:
#ifndef PID_MBED_H #define PID_MBED_H #include "mbed.h" class PID { public: double kp, ki, kd, max, min, dt; //コンストラクタ PID(); PID(double Pgain, double Igain, double Dgain); PID(double Pgain, double Igain, double Dgain, double Max, double Min); //デストラクタ ~PID(); void initialize(void); void setPIDgain(double Pgain, double Igain, double Dgain); void setMaxMin(double Max, double Min); void switchMaxMin(bool Maxcheck, bool Mincheck); double calcPID(double nowval, double targetval, double dt); private: double integral; double oldval[2], diff[2]; bool maxcheck, mincheck; }; #endif