HAPSRG / PIDcontroller

chose PID library implement PID (weight is NOT determined)

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Files at this revision

API Documentation at this revision

Revision 6:dfd3e6512bd5, committed 2022-03-17

Comitter:
NaotoMorita
Date:
Thu Mar 17 01:29:36 2022 +0000
Parent:
4:462dd38db926
Commit message:
resetIntError()

Changed in this revision

PIDcontroller.cpp Show annotated file Show diff for this revision Revisions of this file
PIDcontroller.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 462dd38db926 -r dfd3e6512bd5 PIDcontroller.cpp
--- a/PIDcontroller.cpp	Wed Sep 01 04:55:53 2021 +0000
+++ b/PIDcontroller.cpp	Thu Mar 17 01:29:36 2022 +0000
@@ -106,6 +106,10 @@
     }
     else return value;
  }
+ 
+ void PID::resetIntError(){
+    accError_ = 0.0;
+ }
 
  /**
  * 不完全微分の式

diff -r 462dd38db926 -r dfd3e6512bd5 PIDcontroller.h
--- a/PIDcontroller.h	Wed Sep 01 04:55:53 2021 +0000
+++ b/PIDcontroller.h	Thu Mar 17 01:29:36 2022 +0000
@@ -45,6 +45,8 @@
     float scaledParcent(float value);
 
     float calcIncompleteDifferential(void);
+    
+    void resetIntError();
 
  private:
     bool usingFeedForward; //フィードフォワード制御有効フラグ