NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/PIDcontroller/PID_controller.h@3:d25e7fb07ed2, 2017-08-23 (annotated)
- Committer:
- UCHITAKE
- Date:
- Wed Aug 23 01:07:20 2017 +0000
- Revision:
- 3:d25e7fb07ed2
- Parent:
- 2:ea151e05033a
add document
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 3:d25e7fb07ed2 | 1 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 2 | * @file PID_controller.h |
UCHITAKE | 3:d25e7fb07ed2 | 3 | * @brief コンパスセンサを使ったPIDコントローラ |
UCHITAKE | 3:d25e7fb07ed2 | 4 | */ |
UCHITAKE | 2:ea151e05033a | 5 | #ifndef PID_CONTROLLER_H |
UCHITAKE | 2:ea151e05033a | 6 | #define PID_CONTROLLER_H |
UCHITAKE | 2:ea151e05033a | 7 | |
UCHITAKE | 2:ea151e05033a | 8 | #include "mbed.h" |
UCHITAKE | 2:ea151e05033a | 9 | #include "pin_config.h" |
UCHITAKE | 2:ea151e05033a | 10 | |
UCHITAKE | 2:ea151e05033a | 11 | #include "PID.h" |
UCHITAKE | 2:ea151e05033a | 12 | #include "HMC6352.h" |
UCHITAKE | 2:ea151e05033a | 13 | |
UCHITAKE | 2:ea151e05033a | 14 | #define M_PI 3.141592653589793 |
UCHITAKE | 2:ea151e05033a | 15 | #define KC 1.0 |
UCHITAKE | 2:ea151e05033a | 16 | #define TI 0.0 |
UCHITAKE | 2:ea151e05033a | 17 | #define TD 0.0 |
UCHITAKE | 2:ea151e05033a | 18 | #define INTERVAL 0.05 |
UCHITAKE | 3:d25e7fb07ed2 | 19 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 20 | * @brief コンパスセンサを使ったPIDコントローラ |
UCHITAKE | 3:d25e7fb07ed2 | 21 | */ |
UCHITAKE | 2:ea151e05033a | 22 | class PIDC : public PID, HMC6352, Ticker |
UCHITAKE | 2:ea151e05033a | 23 | { |
UCHITAKE | 2:ea151e05033a | 24 | public : |
UCHITAKE | 3:d25e7fb07ed2 | 25 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 26 | * @brief コンストラクタ,タイマ割り込みでの計算開始 |
UCHITAKE | 3:d25e7fb07ed2 | 27 | */ |
UCHITAKE | 2:ea151e05033a | 28 | PIDC(); |
UCHITAKE | 2:ea151e05033a | 29 | |
UCHITAKE | 2:ea151e05033a | 30 | private : |
UCHITAKE | 2:ea151e05033a | 31 | void updateOutput(); |
UCHITAKE | 2:ea151e05033a | 32 | |
UCHITAKE | 2:ea151e05033a | 33 | int rawDegree; |
UCHITAKE | 2:ea151e05033a | 34 | int offSetDegree; |
UCHITAKE | 2:ea151e05033a | 35 | int turnOverNumber; |
UCHITAKE | 2:ea151e05033a | 36 | int beforeDegree; |
UCHITAKE | 2:ea151e05033a | 37 | |
UCHITAKE | 2:ea151e05033a | 38 | protected : |
UCHITAKE | 2:ea151e05033a | 39 | float co; |
UCHITAKE | 2:ea151e05033a | 40 | float processValue; |
UCHITAKE | 2:ea151e05033a | 41 | int initDegree; |
UCHITAKE | 2:ea151e05033a | 42 | }; |
UCHITAKE | 2:ea151e05033a | 43 | |
UCHITAKE | 2:ea151e05033a | 44 | #endif//PID_CONTROLLER_H |