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:
- 23:37bb9afe9fdc
- Parent:
- 22:682cc376da6f
- Child:
- 24:9a4ca5442717
diff -r 682cc376da6f -r 37bb9afe9fdc bot/PIDcontroller/PID_controller.h --- 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