Diff: bot/PIDcontroller/PID_controller.h

Revision:

47:43f55ff8916b

Parent:

45:a3ff2bc0574b

Child:

49:703cc56d4858

--- a/bot/PIDcontroller/PID_controller.h	Sun Oct 29 15:40:26 2017 +0900
+++ b/bot/PIDcontroller/PID_controller.h	Mon Nov 06 18:27:03 2017 +0900
@@ -25,21 +25,21 @@
 #include "pin_config.h"
 
 #include "PID.h"
-#include "HMC6352.h"
+#include "R1307.h"
 
 const double KC = 8.2;
 const double TI = 0.0;
 const double TD = 0.0000;
-const float INTERVAL  = 0.01;
+const float INTERVAL  = 0.001;
 const float INPUT_LIMIT = 360.0;
 const float OUTPUT_LIMIT = 0.4;
 const float BIAS = 0.0;
-const int SENSED_THRESHOLD = 1800;
+const float SENSED_THRESHOLD = 180.0;
 
 /**
 * @brief コンパスセンサを使ったPIDコントローラ
 */
-class PIDC : public PID, HMC6352, Ticker
+class PIDC
 {
 public :
     /**
@@ -56,7 +56,7 @@
      * @param td       TD
      * @param interval interval
      */
-    PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval);
+    PIDC(PinName tx, PinName scl, float kc, float ti, float td, float interval);
 
     /**
      * @brief センサの値とPIDの値をアップデート
@@ -78,34 +78,30 @@
      * 現在の角度を取得
      * @return 現在の角度(degree)
      */
-    int getCurrentDegree() const;
+    float getCurrentDegree() const;
 
     /**
      * センサの生値を取得
      * @return コンパスセンサの生値
      */
-    int getRawDegree();
+    float getRawDegree();
 
     void setPoint(float point);
 
-    /**
-     * @brief キャリブレーションする
-     * @param mode ENTER OR EXIT
-     */
-    void calibration(int mode);
 private :
-
-    void updateOutput();
+    float offSetDegree;
+    int turnOverNumber;
+    float beforeDegree;
 
-    int offSetDegree;
-    int turnOverNumber;
-    int beforeDegree;
+    PID pid;
+    R1307 r1370;
+    Serial pidcSerial;
 
 protected :
 
-    int rawDegree;
+    float rawDegree;
     float calculationResult;
-    int currentDegree;
+    float currentDegree;
 };
 
 #endif//PID_CONTROLLER_H