2022_gorobo_Ateam / Mbed 2 deprecated PIDcontrol_4

足回りプログラム

Dependencies:   mbed SBDBT arrc_mbed

PIDcontrol.hpp@0:4f39632d7a42, 2022-01-17 (annotated)

Committer:
kazumayamanaka
Date:
Mon Jan 17 02:40:16 2022 +0000
Revision:
0:4f39632d7a42
this program is to motor control;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 0:4f39632d7a42 1 #ifndef PID_CONTROL_H
kazumayamanaka 0:4f39632d7a42 2 #define PID_CONTROL_H
kazumayamanaka 0:4f39632d7a42 3 #include "mbed.h"
kazumayamanaka 0:4f39632d7a42 4 #define co (108*3.1415926535897)/500
kazumayamanaka 0:4f39632d7a42 5
kazumayamanaka 0:4f39632d7a42 6 class PIDcontrol{
kazumayamanaka 0:4f39632d7a42 7 public:
kazumayamanaka 0:4f39632d7a42 8 double spd;//速度
kazumayamanaka 0:4f39632d7a42 9 double error_n,error_b;//現在の誤差、過去の誤差
kazumayamanaka 0:4f39632d7a42 10 double P,I,D;//pid制御のそれぞれの値
kazumayamanaka 0:4f39632d7a42 11 double pwm,v1p_set,v1m_set;//モータに入れる値
kazumayamanaka 0:4f39632d7a42 12 double integral;//誤差の面積
kazumayamanaka 0:4f39632d7a42 13 double finish,pulse,pal;//パルス関係
kazumayamanaka 0:4f39632d7a42 14 double target;//目標値
kazumayamanaka 0:4f39632d7a42 15 PIDcontrol();//コンストラクタ
kazumayamanaka 0:4f39632d7a42 16 void motor_control(double var_1,double var_2,PinName pin_a,PinName pin_b);//pwmをreturnする関数
kazumayamanaka 0:4f39632d7a42 17 double get_spd();//spdをreturnする関数
kazumayamanaka 0:4f39632d7a42 18 private:
kazumayamanaka 0:4f39632d7a42 19 void speed();//spd計算
kazumayamanaka 0:4f39632d7a42 20 void control();//PID制御
kazumayamanaka 0:4f39632d7a42 21 double dt;//dt=0.05
kazumayamanaka 0:4f39632d7a42 22 double Kp,Ki,Kd;//PID制御
kazumayamanaka 0:4f39632d7a42 23 };
kazumayamanaka 0:4f39632d7a42 24
kazumayamanaka 0:4f39632d7a42 25 #endif
kazumayamanaka 0:4f39632d7a42 26
kazumayamanaka 0:4f39632d7a42 27
kazumayamanaka 0:4f39632d7a42 28