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自動着陸の右旋回を修正
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_24 by
Diff: pid/pid.h
- Revision:
- 0:17f575135219
diff -r 000000000000 -r 17f575135219 pid/pid.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pid/pid.h Fri Sep 07 04:11:48 2018 +0000 @@ -0,0 +1,32 @@ +#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 \ No newline at end of file