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

Diff: bot/PIDcontroller/PID_controller.h

Revision:
23:37bb9afe9fdc
Parent:
22:682cc376da6f
Child:
24:9a4ca5442717
--- a/bot/PIDcontroller/PID_controller.h	Thu Sep 07 06:26:53 2017 +0000
+++ b/bot/PIDcontroller/PID_controller.h	Wed Sep 13 14:26:47 2017 +0900
@@ -15,7 +15,7 @@
 const double KC = 5.2;
 const double TI = 0.0;
 const double TD = 0.00;
-const float INTERVAL  = 0.01;
+const float INTERVAL  = 0.001;
 const float INPUT_LIMIT = 180.0;
 const float OUTPUT_LIMIT = 0.4;
 const float BIAS = 0.0;
@@ -74,6 +74,9 @@
      * @brief キャリブレーションする
      * @param mode ENTER OR EXIT
      */
+
+     void renewAngle();
+
     void calibration(int mode);
 private :
 
@@ -89,6 +92,7 @@
     float calculationResult;
     float axisCurrentDegree;
     float planeCurrentDegree;
+    float angle;
 };
 
 #endif//PID_CONTROLLER_H