HAPSRG / PIDcontroller

chose PID library implement PID (weight is NOT determined)

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: PIDcontroller.h

Revision:
2:a05ba9d3be55
Parent:
1:5f8577f03edb
Child:
4:462dd38db926
--- a/PIDcontroller.h	Tue Feb 09 03:31:04 2021 +0000
+++ b/PIDcontroller.h	Thu Aug 26 04:26:47 2021 +0000
@@ -45,6 +45,8 @@
     float scaledParcent(float value);
 
     float calcIncompleteDifferential(void);
+    
+    void setAccErrorMax(float maxVal); //積分項の積分最大値(0~)
 
  private:
     bool usingFeedForward; //フィードフォワード制御有効フラグ
@@ -62,6 +64,7 @@
     float outMin_, outMax_, outSpan_; //出力の最小値,最大値,範囲
 
     float  accError_; //偏差の積分値
+    float  accErrorMax_;
 
     float     Error_; //現在の偏差
     float prevError_; //前回の偏差