PID制御計算用ライブラリ
Dependents: ROBOCON2017_archan ROBOCON2017_suchan
cal_PID.hpp
- Committer:
- Akito914
- Date:
- 2016-09-28
- Revision:
- 1:f1f6c98a4b12
- Parent:
- 0:52549f6dd024
- Child:
- 2:e340bdcb9bca
File content as of revision 1:f1f6c98a4b12:
#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,int rd=1); 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