taiyou komazawa / Mbed 2 deprecated Nucleo_fliping_arm

2018 HongoMechaTech A

Dependencies:   mbed

lib/PID_Control.h

Committer:
Komazawa_sun
Date:
2018-09-18
Revision:
0:e83b840a5f86

File content as of revision 0:e83b840a5f86:

#ifndef PID_CONTROL_H_
#define PID_CONTROL_H_

#include <mbed.h>

class PID_Control
{
public:
    PID_Control(double kp = 0, double ki = 0, double kd = 0);
    
    double PID(double present, double target, double interval);
    void reset();
    void set_PID(double kp, double ki, double kd);
        
private:
    
    double diff[2];
    double integral;
    double p, i, d;
    double kp, ki, kd;
    double control;
};

#endif