Diff: bot/PIDcontroller/PID_controller.h

Revision:

6:fe9767a50891

Parent:

5:16ea97725085

Child:

7:c6acf63088b0

diff -r 16ea97725085 -r fe9767a50891 bot/PIDcontroller/PID_controller.h
--- a/bot/PIDcontroller/PID_controller.h	Wed Sep 06 17:47:20 2017 +0900
+++ b/bot/PIDcontroller/PID_controller.h	Wed Sep 06 18:39:19 2017 +0900
@@ -35,6 +35,7 @@
 const float INPUT_LIMIT = 180.0;
 const float OUTPUT_LIMIT = 0.4;
 const float BIAS = 0.0;
+const int SENSED_THRESHOLD = 1800;
 
 /**
 * @brief コンパスセンサを使ったPIDコントローラ
@@ -60,27 +61,25 @@
 
 
     void confirm();
-    void resetOffset();
-    void resetOffset2();
-    float getCo() const;
-    int getDegree() const;
+    void resetAxisOffset();
+    void resetPlaneOffset();
+    float getCalculationResult() const;
+    int getCurrentDegree() const;
     void calibration(int mode);
 private :
 
     void updateOutput();
 
-    int offSetDegree;
-    int offSetDegree2;
+    int axisOffSetDegree;
+    int planeOffSetDegree;
     int turnOverNumber;
     int beforeDegree;
 
 protected :
     int rawDegree;
-    float co;
-    float processValue;
-    int initDegree;
-    int initDegree2;
-    int baseAngle;
+    float calculationResult;
+    int axisCurrentDegree;
+    int planeCurrentDegree;
 };
 
 #endif//PID_CONTROLLER_H