ロボステ6期 / PID_SC

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Diff: EC.h

Revision:
10:216d5a573dc7
Parent:
9:a919aa92e65e
Child:
12:530f6184830a
--- a/EC.h	Mon Nov 28 13:01:04 2016 +0000
+++ b/EC.h	Tue Nov 29 12:45:45 2016 +0000
@@ -26,13 +26,12 @@
         int rev;
         double now_time,old_time;
         double RPM,RPM_old;
+        int RPM_th;
         
         InterruptIn signalA_;
         InterruptIn signalB_;
         InterruptIn signalZ_;
         
-        Timer timer;
-        
         void upA();
         void downA();
         void upB();
@@ -134,6 +133,8 @@
          * @endcode
          */
         double getRPM();
+        
+        void changeRPM_th(int th);
 
         
         ///角速度計算の間隔
@@ -141,7 +142,7 @@
         ///エンコーダの分解能のデフォルト値
         static int defsolution;
         
-        
+        Timer timer;
     
 };
 
@@ -190,7 +191,8 @@
         double Kv_p,Kv_d,Kv_i;
         double diff,diff_old,integral;
         double out_duty,out;
-        double now_RPM;
+        double now_omega,now_RPM;
+        double now_time_,old_time_;
         //Serial pc(USBTX,USBRX);
     protected: