taiyou komazawa / Mbed 2 deprecated Nucleo_fliping_arm

2018 HongoMechaTech A

Dependencies:   mbed

lib/PID_Control.h@0:e83b840a5f86, 2018-09-18 (annotated)

Committer:
Komazawa_sun
Date:
Tue Sep 18 03:11:01 2018 +0000
Revision:
0:e83b840a5f86
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:e83b840a5f86 1 #ifndef PID_CONTROL_H_
Komazawa_sun 0:e83b840a5f86 2 #define PID_CONTROL_H_
Komazawa_sun 0:e83b840a5f86 3
Komazawa_sun 0:e83b840a5f86 4 #include <mbed.h>
Komazawa_sun 0:e83b840a5f86 5
Komazawa_sun 0:e83b840a5f86 6 class PID_Control
Komazawa_sun 0:e83b840a5f86 7 {
Komazawa_sun 0:e83b840a5f86 8 public:
Komazawa_sun 0:e83b840a5f86 9 PID_Control(double kp = 0, double ki = 0, double kd = 0);
Komazawa_sun 0:e83b840a5f86 10
Komazawa_sun 0:e83b840a5f86 11 double PID(double present, double target, double interval);
Komazawa_sun 0:e83b840a5f86 12 void reset();
Komazawa_sun 0:e83b840a5f86 13 void set_PID(double kp, double ki, double kd);
Komazawa_sun 0:e83b840a5f86 14
Komazawa_sun 0:e83b840a5f86 15 private:
Komazawa_sun 0:e83b840a5f86 16
Komazawa_sun 0:e83b840a5f86 17 double diff[2];
Komazawa_sun 0:e83b840a5f86 18 double integral;
Komazawa_sun 0:e83b840a5f86 19 double p, i, d;
Komazawa_sun 0:e83b840a5f86 20 double kp, ki, kd;
Komazawa_sun 0:e83b840a5f86 21 double control;
Komazawa_sun 0:e83b840a5f86 22 };
Komazawa_sun 0:e83b840a5f86 23
Komazawa_sun 0:e83b840a5f86 24 #endif