Akashi_2021_Bteam
keiro tuiju-
Diff: PID.hpp
- Revision:
- 0:fb188a482b84
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.hpp Wed Apr 14 14:17:27 2021 +0000
@@ -0,0 +1,26 @@
+#ifndef IG_PID_HPP_
+#define IG_PID_HPP_
+
+class PID{
+public:
+ PID(double KP,double KI,double KD,double DT):Kp(KP),Ki(KI),Kd(KD),dt(DT){
+
+ }
+ void Update(double e){
+ PROP = e;
+ INT += (curr_e + prev_e)*dt/2.0;
+ DIFF = (curr_e - prev_e)/dt;
+ mv = Kp*PROP + Ki*INT + Kd*DIFF;
+ }
+ double getmv(){
+ return mv;
+ }
+private:
+ double Kp,Ki,Kd; /* Pゲイン Iゲイン Dゲイン */
+ double dt; /* 微小時間 */
+ double prev_e,curr_e; /* 前回の誤差 現在の誤差 */
+ double PROP,INT,DIFF; /* 比例 積分 微分 */
+ double mv; /* manipulating variable */
+};
+
+#endif /* IG_PID_HPP_ */