taiyou komazawa / Mbed 2 deprecated Nucleo_fliping_arm

2018 HongoMechaTech A

Dependencies:   mbed

lib/Timer_PID.cpp@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 #include "Timer_PID.h"
Komazawa_sun 0:e83b840a5f86 2
Komazawa_sun 0:e83b840a5f86 3 Timer_PID::Timer_PID(double kp, double ki, double kd) : PID_Control(kp, ki, kd)
Komazawa_sun 0:e83b840a5f86 4 {
Komazawa_sun 0:e83b840a5f86 5 reset();
Komazawa_sun 0:e83b840a5f86 6 }
Komazawa_sun 0:e83b840a5f86 7
Komazawa_sun 0:e83b840a5f86 8 double Timer_PID::PID(double present, double target)
Komazawa_sun 0:e83b840a5f86 9 {
Komazawa_sun 0:e83b840a5f86 10 interval = read_interval();
Komazawa_sun 0:e83b840a5f86 11 return PID_Control::PID(present, target, interval);
Komazawa_sun 0:e83b840a5f86 12 }
Komazawa_sun 0:e83b840a5f86 13
Komazawa_sun 0:e83b840a5f86 14 double Timer_PID::read_interval()
Komazawa_sun 0:e83b840a5f86 15 {
Komazawa_sun 0:e83b840a5f86 16 double time;
Komazawa_sun 0:e83b840a5f86 17 time = timer.read();
Komazawa_sun 0:e83b840a5f86 18 timer.reset();
Komazawa_sun 0:e83b840a5f86 19 return time;
Komazawa_sun 0:e83b840a5f86 20 }
Komazawa_sun 0:e83b840a5f86 21
Komazawa_sun 0:e83b840a5f86 22 void Timer_PID::reset()
Komazawa_sun 0:e83b840a5f86 23 {
Komazawa_sun 0:e83b840a5f86 24 PID_Control::reset();
Komazawa_sun 0:e83b840a5f86 25 timer.reset();
Komazawa_sun 0:e83b840a5f86 26 timer.start();
Komazawa_sun 0:e83b840a5f86 27 }