NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/PIDcontroller/PID_controller.h@2:ea151e05033a, 2017-08-22 (annotated)
- Committer:
- UCHITAKE
- Date:
- Tue Aug 22 11:56:47 2017 +0000
- Revision:
- 2:ea151e05033a
- Child:
- 3:d25e7fb07ed2
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 2:ea151e05033a | 1 | #ifndef PID_CONTROLLER_H |
UCHITAKE | 2:ea151e05033a | 2 | #define PID_CONTROLLER_H |
UCHITAKE | 2:ea151e05033a | 3 | |
UCHITAKE | 2:ea151e05033a | 4 | #include "mbed.h" |
UCHITAKE | 2:ea151e05033a | 5 | #include "pin_config.h" |
UCHITAKE | 2:ea151e05033a | 6 | |
UCHITAKE | 2:ea151e05033a | 7 | #include "PID.h" |
UCHITAKE | 2:ea151e05033a | 8 | #include "HMC6352.h" |
UCHITAKE | 2:ea151e05033a | 9 | |
UCHITAKE | 2:ea151e05033a | 10 | #define M_PI 3.141592653589793 |
UCHITAKE | 2:ea151e05033a | 11 | #define KC 1.0 |
UCHITAKE | 2:ea151e05033a | 12 | #define TI 0.0 |
UCHITAKE | 2:ea151e05033a | 13 | #define TD 0.0 |
UCHITAKE | 2:ea151e05033a | 14 | #define INTERVAL 0.05 |
UCHITAKE | 2:ea151e05033a | 15 | |
UCHITAKE | 2:ea151e05033a | 16 | class PIDC : public PID, HMC6352, Ticker |
UCHITAKE | 2:ea151e05033a | 17 | { |
UCHITAKE | 2:ea151e05033a | 18 | public : |
UCHITAKE | 2:ea151e05033a | 19 | PIDC(); |
UCHITAKE | 2:ea151e05033a | 20 | |
UCHITAKE | 2:ea151e05033a | 21 | private : |
UCHITAKE | 2:ea151e05033a | 22 | void updateOutput(); |
UCHITAKE | 2:ea151e05033a | 23 | |
UCHITAKE | 2:ea151e05033a | 24 | int rawDegree; |
UCHITAKE | 2:ea151e05033a | 25 | int offSetDegree; |
UCHITAKE | 2:ea151e05033a | 26 | int turnOverNumber; |
UCHITAKE | 2:ea151e05033a | 27 | int beforeDegree; |
UCHITAKE | 2:ea151e05033a | 28 | |
UCHITAKE | 2:ea151e05033a | 29 | protected : |
UCHITAKE | 2:ea151e05033a | 30 | float co; |
UCHITAKE | 2:ea151e05033a | 31 | float processValue; |
UCHITAKE | 2:ea151e05033a | 32 | int initDegree; |
UCHITAKE | 2:ea151e05033a | 33 | }; |
UCHITAKE | 2:ea151e05033a | 34 | |
UCHITAKE | 2:ea151e05033a | 35 | #endif//PID_CONTROLLER_H |