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 
--- 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

--- 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