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@6:590c9622ecf1, 2017-08-24 (annotated)

Committer:
UCHITAKE
Date:
Thu Aug 24 08:16:21 2017 +0000
Revision:
6:590c9622ecf1
Child:
19:41f7dd1a5ed1
Just worked !!!!!!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 6:590c9622ecf1 1 /**
UCHITAKE 6:590c9622ecf1 2 * @file PID_controller.h
UCHITAKE 6:590c9622ecf1 3 * @brief コンパスセンサを使ったPIDコントローラ
UCHITAKE 6:590c9622ecf1 4 */
UCHITAKE 6:590c9622ecf1 5 #ifndef PID_CONTROLLER_H
UCHITAKE 6:590c9622ecf1 6 #define PID_CONTROLLER_H
UCHITAKE 6:590c9622ecf1 7
UCHITAKE 6:590c9622ecf1 8 #include "mbed.h"
UCHITAKE 6:590c9622ecf1 9 #include "pin_config.h"
UCHITAKE 6:590c9622ecf1 10
UCHITAKE 6:590c9622ecf1 11 #include "PID.h"
UCHITAKE 6:590c9622ecf1 12 #include "HMC6352.h"
UCHITAKE 6:590c9622ecf1 13
UCHITAKE 6:590c9622ecf1 14 #define M_PI 3.141592653589793
UCHITAKE 6:590c9622ecf1 15 #define KC 1.0
UCHITAKE 6:590c9622ecf1 16 #define TI 0.0
UCHITAKE 6:590c9622ecf1 17 #define TD 0.0
UCHITAKE 6:590c9622ecf1 18 #define INTERVAL 1.0
UCHITAKE 6:590c9622ecf1 19 /**
UCHITAKE 6:590c9622ecf1 20 * @brief コンパスセンサを使ったPIDコントローラ
UCHITAKE 6:590c9622ecf1 21 */
UCHITAKE 6:590c9622ecf1 22 class PIDC : public PID, HMC6352, Ticker
UCHITAKE 6:590c9622ecf1 23 {
UCHITAKE 6:590c9622ecf1 24 public :
UCHITAKE 6:590c9622ecf1 25 /**
UCHITAKE 6:590c9622ecf1 26 * @brief コンストラクタ,タイマ割り込みでの計算開始
UCHITAKE 6:590c9622ecf1 27 */
UCHITAKE 6:590c9622ecf1 28 PIDC();
UCHITAKE 6:590c9622ecf1 29
UCHITAKE 6:590c9622ecf1 30 void confirm();
UCHITAKE 6:590c9622ecf1 31 float getCo();
UCHITAKE 6:590c9622ecf1 32 private :
UCHITAKE 6:590c9622ecf1 33
UCHITAKE 6:590c9622ecf1 34 void updateOutput();
UCHITAKE 6:590c9622ecf1 35
UCHITAKE 6:590c9622ecf1 36 int rawDegree;
UCHITAKE 6:590c9622ecf1 37 int offSetDegree;
UCHITAKE 6:590c9622ecf1 38 int turnOverNumber;
UCHITAKE 6:590c9622ecf1 39 int beforeDegree;
UCHITAKE 6:590c9622ecf1 40
UCHITAKE 6:590c9622ecf1 41 protected :
UCHITAKE 6:590c9622ecf1 42 float co;
UCHITAKE 6:590c9622ecf1 43 float processValue;
UCHITAKE 6:590c9622ecf1 44 int initDegree;
UCHITAKE 6:590c9622ecf1 45 };
UCHITAKE 6:590c9622ecf1 46
UCHITAKE 6:590c9622ecf1 47 #endif//PID_CONTROLLER_H