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Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
CommonLibraries/PID/PID.h
- Committer:
- 7ka884
- Date:
- 2018-10-01
- Revision:
- 4:ba9df71868df
File content as of revision 4:ba9df71868df:
/* * 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_ */