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:
- 2:ea151e05033a
- Child:
- 3:d25e7fb07ed2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/bot/PIDcontroller/PID_controller.h Tue Aug 22 11:56:47 2017 +0000 @@ -0,0 +1,35 @@ +#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 0.05 + +class PIDC : public PID, HMC6352, Ticker +{ +public : + PIDC(); + +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