NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
Diff: bot/PIDcontroller/PID_controller.h
- Revision:
- 6:590c9622ecf1
- Child:
- 19:41f7dd1a5ed1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/bot/PIDcontroller/PID_controller.h Thu Aug 24 08:16:21 2017 +0000 @@ -0,0 +1,47 @@ +/** +* @file PID_controller.h +* @brief コンパスセンサを使ったPIDコントローラ +*/ +#ifndef PID_CONTROLLER_H +#define PID_CONTROLLER_H + +#include "mbed.h" +#include "pin_config.h" + +#include "PID.h" +#include "HMC6352.h" + +#define M_PI 3.141592653589793 +#define KC 1.0 +#define TI 0.0 +#define TD 0.0 +#define INTERVAL 1.0 +/** +* @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 +{ +public : + /** + * @brief コンストラクタ,タイマ割り込みでの計算開始 + */ + PIDC(); + + void confirm(); + float getCo(); +private : + + void updateOutput(); + + int rawDegree; + int offSetDegree; + int turnOverNumber; + int beforeDegree; + +protected : + float co; + float processValue; + int initDegree; +}; + +#endif//PID_CONTROLLER_H \ No newline at end of file