Diff: cal_PID.hpp

Revision:

0:52549f6dd024

Child:

1:f1f6c98a4b12

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cal_PID.hpp	Fri Aug 26 11:30:08 2016 +0000
@@ -0,0 +1,36 @@
+
+#ifndef __CAL_PID_HPP__
+#define __CAL_PID_HPP__
+#include "mbed.h"
+
+
+class cal_pid{
+public:
+    cal_pid();
+    ~cal_pid();
+    void param(float _p_gain,float _i_gain,float _d_gain);
+    void period(float _control_period);
+    void output(signed long _min,signed long _max);
+    void reset();
+    signed long get_pid(signed long position,signed long targ);
+private:
+    signed long error;
+    signed long past_error;
+    signed long egral_error;
+    signed long integral_error;
+    signed long differential_error;
+    float p_gain;
+    float i_gain;
+    float d_gain;
+    float control_period;
+    signed long p_part;
+    signed long i_part;
+    signed long d_part;
+    signed long output_min;
+    signed long output_max;
+    signed long operate;
+};
+
+
+
+#endif
\ No newline at end of file