NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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Diff: bot/PIDcontroller/PID_controller.cpp
- Revision:
- 22:bb6afe7332c3
- Parent:
- 19:3a62cbc6fee9
--- a/bot/PIDcontroller/PID_controller.cpp Mon Sep 04 18:35:33 2017 +0900 +++ b/bot/PIDcontroller/PID_controller.cpp Tue Sep 05 12:00:34 2017 +0900 @@ -5,7 +5,16 @@ confirm(); } -PIDC::PIDC() : PID(KC, TI, TD, INTERVAL), HMC6352(HMCsda, HMCscl) +PIDC::PIDC() : + PID(KC, TI, TD, INTERVAL), + HMC6352(HMCsda, HMCscl), + rawDegree(0), + offSetDegree(0), + turnOverNumber(0), + beforeDegree(0), + co(0), + processValue(0), + initDegree(0) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); @@ -23,7 +32,15 @@ } PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) : -PID(kc, ti, td, interval), HMC6352(sda, scl) + PID(kc, ti, td, interval), + HMC6352(sda, scl), + rawDegree(0), + offSetDegree(0), + turnOverNumber(0), + beforeDegree(0), + co(0), + processValue(0), + initDegree(0) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); @@ -52,7 +69,7 @@ co = PID::compute(); } -float PIDC::getCo() +float PIDC::getCo() const { return co; }