Diff: pid/pid.h

Revision:

0:17f575135219

--- /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