chose PID library implement PID (weight is NOT determined)
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: PIDcontroller.h
- Revision:
- 4:462dd38db926
- Parent:
- 2:a05ba9d3be55
- Child:
- 6:dfd3e6512bd5
diff -r c99dfa48b606 -r 462dd38db926 PIDcontroller.h --- a/PIDcontroller.h Thu Aug 26 04:28:32 2021 +0000 +++ b/PIDcontroller.h Wed Sep 01 04:55:53 2021 +0000 @@ -45,8 +45,6 @@ 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 @@ -64,7 +62,6 @@ 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