taiyou komazawa / Mbed 2 deprecated Nucleo_fliping_arm

2018 HongoMechaTech A

Dependencies:   mbed

Diff: lib/Timer_PID.cpp

Revision:
0:e83b840a5f86
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/Timer_PID.cpp	Tue Sep 18 03:11:01 2018 +0000
@@ -0,0 +1,27 @@
+#include "Timer_PID.h"
+
+Timer_PID::Timer_PID(double kp, double ki, double kd) : PID_Control(kp, ki, kd)
+{
+    reset();
+}
+
+double Timer_PID::PID(double present, double target)
+{
+    interval = read_interval();
+    return PID_Control::PID(present, target, interval);
+}
+
+double Timer_PID::read_interval()
+{
+    double time;
+    time = timer.read();
+    timer.reset();
+    return time;
+}
+
+void Timer_PID::reset()
+{
+    PID_Control::reset();
+    timer.reset();
+    timer.start();
+}