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Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
Diff: CommonLibraries/PID/PID.h
- Revision:
- 4:ba9df71868df
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CommonLibraries/PID/PID.h Mon Oct 01 13:47:19 2018 +0000 @@ -0,0 +1,52 @@ +/* + * PID.h + * + * Created: 2016/07/01 17:47:45 + * Author: yuuki + */ + + +#ifndef PID_H_ +#define PID_H_ + +namespace PID_SPACE +{ + class PID + { + private: + double diff[2]; + double integral; + double deltaTime; + double dataRangeLower; + double dataRangeUpper; + double kp,ki,kd; + double mv; + + public: + // deltaTime:1サイクル時間( 1 / Process Frequency ) + PID(double deltaTime); + PID(double deltaTime, double dataRangeLower, double dataRangeUpper); + PID(double deltaTime, double dataRangeLower, double dataRangeUpper, double KP, double KI, double KD); + + //パラメータを設定 + void SetParam(double KP, double KI, double KD); + + //測定量を入力し操作量を取得 + double SetPV(double sensorData, double targetData); + + //操作量を取得 + double GetMV(); + + //入力した値を制限して取得 + double limit(double data, double lower, double upper); + + //TODO:速度系PID関数 + double SetSpeed(double sensorData,double targetData); + }; + + +} + + + +#endif /* PID_H_ */ \ No newline at end of file