Diff: PIDco.hpp

Revision:

0:a1238c4cd105

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PIDco.hpp	Wed Jan 19 12:43:26 2022 +0000
@@ -0,0 +1,42 @@
+#ifndef PID_CO_H
+#define PID_CO_H
+#include "mbed.h"
+
+#define Kp 0.0001
+#define Ki 0.0000014
+#define Kd 0.0000001
+#define co (108 * 3.1415926535897) / 500
+
+
+class PIDco{
+    
+    public://use in main.cpp
+        PIDco();
+        double obt_spd();
+        void pass_val(double PULSE,double TARGET);
+        void wheel_ctl(PinName PIN_A,PinName PIN_B);
+    
+    private:
+        void cal_spd();
+        void cal_Error();
+        void renew_Error();
+        void cal_Pval();
+        void cal_Ival();
+        void cal_Dval();
+        void cal_pwm();
+        
+        double spd;
+        double Target,Error_a,Error_b;
+        double Pval,Ival,Dval,Pwm;
+        double Integral,dt;
+        double diff,pulse_a,pulse_b;
+        double v1p_set,v1m_set;
+};
+
+#endif
+        
+        
+        
+        
+        
+        
\ No newline at end of file