Diff: PID.h

Revision:

1:fa0730bf53ef

diff -r f252870bfd39 -r fa0730bf53ef PID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Tue Aug 23 08:55:01 2022 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+ 
+#ifndef PID_H
+#define PID_H
+ 
+#define PID_SCALE   668        // 2*334 
+
+class PID
+{
+    public:
+    
+    PID(float Kc, float Ki, float Kd, float interval);
+    
+    void ReadCurrentValue(int CurrentValue); // current Encoder Value
+    void SetTargetValue(int targetValue);    // set Target Value
+//    float Performance(void);                   // drive Motor ( return 0~1.0)
+    
+    float Performance_Speed(void);
+    float Performance_Location(void);
+    
+    void Reset(void);
+    void ResetError(void);
+ 
+    float getP();
+    void setP(float);
+    float getI();
+    void setI(float);
+    float getD();
+    void setD(float);    
+    
+    float ReadCurrentVelocity(void);
+    
+    private:
+    
+    float Kp_;
+    float Ki_;
+    float Kd_;
+    float interval_;
+    
+    float err_;
+    float accErr_;
+    
+    int CV_;
+    int TV_;
+    int prevCV_;
+    
+    float controllerOutput_;
+    
+    // speed control
+    float prevVelocity_;
+ 
+//  location control
+    float ScaledCV_;
+    float ScaledTV_;
+    float ScaledPrevCV_;
+    
+    float Scale_;
+};
+ 
+ 
+#endif /* PID_H */
+ 
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