![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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Diff: bot/PIDcontroller/PID_controller.h
- Revision:
- 22:bb6afe7332c3
- Parent:
- 21:b2c1d73b0ee9
--- a/bot/PIDcontroller/PID_controller.h Mon Sep 04 18:35:33 2017 +0900 +++ b/bot/PIDcontroller/PID_controller.h Tue Sep 05 12:00:34 2017 +0900 @@ -27,14 +27,14 @@ #include "PID.h" #include "HMC6352.h" -#define M_PI 3.141592653589793 -#define KC 5.0 -#define TI 0.0 -#define TD 0.0 -#define INTERVAL 0.05 -#define INPUT_LIMIT 180 -#define OUTPUT_LIMIT 0.4 -#define BIAS 0.0 +// const double M_PI = 3.141592653589793; +const double KC = 5.0; +const double TI = 0.0; +const double TD = 0.0; +const float INTERVAL = 0.05; +const float INPUT_LIMIT = 180.0; +const float OUTPUT_LIMIT = 0.4; +const float BIAS = 0.0; /** * @brief コンパスセンサを使ったPIDコントローラ @@ -59,7 +59,7 @@ PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval); void confirm(); - float getCo(); + float getCo() const; void calibration(int mode); private :