NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/PIDcontroller/PID_controller.h
- Committer:
- UCHITAKE
- Date:
- 2017-08-22
- Revision:
- 2:ea151e05033a
- Child:
- 3:d25e7fb07ed2
File content as of revision 2:ea151e05033a:
#ifndef PID_CONTROLLER_H #define PID_CONTROLLER_H #include "mbed.h" #include "pin_config.h" #include "PID.h" #include "HMC6352.h" #define M_PI 3.141592653589793 #define KC 1.0 #define TI 0.0 #define TD 0.0 #define INTERVAL 0.05 class PIDC : public PID, HMC6352, Ticker { public : PIDC(); private : void updateOutput(); int rawDegree; int offSetDegree; int turnOverNumber; int beforeDegree; protected : float co; float processValue; int initDegree; }; #endif//PID_CONTROLLER_H