Revision 14:7ea663f79c81, committed 2022-03-05

Comitter:

darkumatar

Date:

Sat Mar 05 05:00:50 2022 +0000

Parent:

13:77c13e86ad12

Commit message:

a

Changed in this revision

diff -r 77c13e86ad12 -r 7ea663f79c81 pid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.h	Sat Mar 05 05:00:50 2022 +0000
@@ -0,0 +1,21 @@
+
+
+class pid{
+public:
+pid(double kp,double ki,double kd,int pulse,double interval_s);
+private:
+double pidanswer(int target,int now_pulse);
+double integral=0.0;
+double ca=0.0;
+int before_pulse=0;
+}
+
+double pidanswer(int target,int now_pulse){
+    integral+=((((target-now_puls)+before_pulse)*interval_s)/2.0)
+    double p=kp*(target-now_puls);
+    double d=kd*(((target-now_puls)-before_pulse)/interval_s);
+    double i=ki*integral;
+    ca=ca+p+i+d;
+    before_pulse=now_pluse;
+    return ca;
+}
\ No newline at end of file