Dagozilla to RoboCup / PID_buat_test_PID

Buat test_PID

Dependents:   test_PID tune_PID tune_PID

PID.h@0:9a32bd673e7a, 2018-03-06 (annotated)

Committer:
alienbernamaihsan
Date:
Tue Mar 06 05:05:50 2018 +0000
Revision:
0:9a32bd673e7a
Setelah take video dan boardnya rusak pas dibawa ke avrg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alienbernamaihsan 0:9a32bd673e7a 1 #ifndef PID_H
alienbernamaihsan 0:9a32bd673e7a 2 #define PID_H
alienbernamaihsan 0:9a32bd673e7a 3
alienbernamaihsan 0:9a32bd673e7a 4 #include "mbed.h"
alienbernamaihsan 0:9a32bd673e7a 5
alienbernamaihsan 0:9a32bd673e7a 6 class pid
alienbernamaihsan 0:9a32bd673e7a 7 {
alienbernamaihsan 0:9a32bd673e7a 8 public :
alienbernamaihsan 0:9a32bd673e7a 9 pid(double p , double i , double d , double _N , double _Ts) ;
alienbernamaihsan 0:9a32bd673e7a 10 double createpwm( double setpoint , double feedback ) ;
alienbernamaihsan 0:9a32bd673e7a 11
alienbernamaihsan 0:9a32bd673e7a 12 private :
alienbernamaihsan 0:9a32bd673e7a 13 double Kp ;
alienbernamaihsan 0:9a32bd673e7a 14 double Kd ;
alienbernamaihsan 0:9a32bd673e7a 15 double Ki ;
alienbernamaihsan 0:9a32bd673e7a 16 double N ;
alienbernamaihsan 0:9a32bd673e7a 17 double Ts ;
alienbernamaihsan 0:9a32bd673e7a 18 double a0;
alienbernamaihsan 0:9a32bd673e7a 19 double a1;
alienbernamaihsan 0:9a32bd673e7a 20 double a2;
alienbernamaihsan 0:9a32bd673e7a 21 double b0;
alienbernamaihsan 0:9a32bd673e7a 22 double b1;
alienbernamaihsan 0:9a32bd673e7a 23 double b2;
alienbernamaihsan 0:9a32bd673e7a 24 double ku1;
alienbernamaihsan 0:9a32bd673e7a 25 double ku2;
alienbernamaihsan 0:9a32bd673e7a 26 double ke0;
alienbernamaihsan 0:9a32bd673e7a 27 double ke1;
alienbernamaihsan 0:9a32bd673e7a 28 double ke2;
alienbernamaihsan 0:9a32bd673e7a 29 double e2;
alienbernamaihsan 0:9a32bd673e7a 30 double e1;
alienbernamaihsan 0:9a32bd673e7a 31 double e0;
alienbernamaihsan 0:9a32bd673e7a 32 double u2;
alienbernamaihsan 0:9a32bd673e7a 33 double u1;
alienbernamaihsan 0:9a32bd673e7a 34 double u0;
alienbernamaihsan 0:9a32bd673e7a 35 };
alienbernamaihsan 0:9a32bd673e7a 36 #endif
alienbernamaihsan 0:9a32bd673e7a 37
alienbernamaihsan 0:9a32bd673e7a 38