NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/PIDcontroller/PID_controller.h@2:ea151e05033a, 2017-08-22 (annotated)

Committer:
UCHITAKE
Date:
Tue Aug 22 11:56:47 2017 +0000
Revision:
2:ea151e05033a
Child:
3:d25e7fb07ed2
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 2:ea151e05033a 1 #ifndef PID_CONTROLLER_H
UCHITAKE 2:ea151e05033a 2 #define PID_CONTROLLER_H
UCHITAKE 2:ea151e05033a 3
UCHITAKE 2:ea151e05033a 4 #include "mbed.h"
UCHITAKE 2:ea151e05033a 5 #include "pin_config.h"
UCHITAKE 2:ea151e05033a 6
UCHITAKE 2:ea151e05033a 7 #include "PID.h"
UCHITAKE 2:ea151e05033a 8 #include "HMC6352.h"
UCHITAKE 2:ea151e05033a 9
UCHITAKE 2:ea151e05033a 10 #define M_PI 3.141592653589793
UCHITAKE 2:ea151e05033a 11 #define KC 1.0
UCHITAKE 2:ea151e05033a 12 #define TI 0.0
UCHITAKE 2:ea151e05033a 13 #define TD 0.0
UCHITAKE 2:ea151e05033a 14 #define INTERVAL 0.05
UCHITAKE 2:ea151e05033a 15
UCHITAKE 2:ea151e05033a 16 class PIDC : public PID, HMC6352, Ticker
UCHITAKE 2:ea151e05033a 17 {
UCHITAKE 2:ea151e05033a 18 public :
UCHITAKE 2:ea151e05033a 19 PIDC();
UCHITAKE 2:ea151e05033a 20
UCHITAKE 2:ea151e05033a 21 private :
UCHITAKE 2:ea151e05033a 22 void updateOutput();
UCHITAKE 2:ea151e05033a 23
UCHITAKE 2:ea151e05033a 24 int rawDegree;
UCHITAKE 2:ea151e05033a 25 int offSetDegree;
UCHITAKE 2:ea151e05033a 26 int turnOverNumber;
UCHITAKE 2:ea151e05033a 27 int beforeDegree;
UCHITAKE 2:ea151e05033a 28
UCHITAKE 2:ea151e05033a 29 protected :
UCHITAKE 2:ea151e05033a 30 float co;
UCHITAKE 2:ea151e05033a 31 float processValue;
UCHITAKE 2:ea151e05033a 32 int initDegree;
UCHITAKE 2:ea151e05033a 33 };
UCHITAKE 2:ea151e05033a 34
UCHITAKE 2:ea151e05033a 35 #endif//PID_CONTROLLER_H