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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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pid.h
00001 #ifndef PID_MBED_H 00002 #define PID_MBED_H 00003 00004 00005 #include "mbed.h" 00006 00007 class PID 00008 { 00009 public: 00010 double kp, ki, kd, max, min, dt; 00011 00012 //コンストラクタ 00013 PID(); 00014 PID(double Pgain, double Igain, double Dgain); 00015 PID(double Pgain, double Igain, double Dgain, double Max, double Min); 00016 //デストラクタ 00017 ~PID(); 00018 00019 void initialize(void); 00020 void setPIDgain(double Pgain, double Igain, double Dgain); 00021 void setMaxMin(double Max, double Min); 00022 void switchMaxMin(bool Maxcheck, bool Mincheck); 00023 double calcPID(double nowval, double targetval, double dt); 00024 00025 00026 private: 00027 double integral; 00028 double oldval[2], diff[2]; 00029 bool maxcheck, mincheck; 00030 }; 00031 00032 #endif
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