Takumi Nakagawara / PID

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

PID.h@0:be531c5604db, 2019-01-11 (annotated)

Committer:
TakumiToda
Date:
Fri Jan 11 08:00:51 2019 +0000
Revision:
0:be531c5604db
Child:
1:4705d8930670
PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TakumiToda 0:be531c5604db 1 #ifndef PID_H
TakumiToda 0:be531c5604db 2 #define PID_H
TakumiToda 0:be531c5604db 3
TakumiToda 0:be531c5604db 4 #include "mbed.h"
TakumiToda 0:be531c5604db 5
TakumiToda 0:be531c5604db 6
TakumiToda 0:be531c5604db 7 class PID {
TakumiToda 0:be531c5604db 8 public:
TakumiToda 0:be531c5604db 9 PID();
TakumiToda 0:be531c5604db 10 float control(float target, float nowrpm, Timer *timer);
TakumiToda 0:be531c5604db 11 float PI_lateD(float target, float nowrpm, Timer *timer);
TakumiToda 0:be531c5604db 12 float control_P(float target, float nowrpm, float new_Kp);
TakumiToda 0:be531c5604db 13 float control_PI(float target, float nowrpm, Timer *timer);
TakumiToda 0:be531c5604db 14 void setParameter_pid(float new_Kp, float new_Ki, float new_Kd);
TakumiToda 0:be531c5604db 15 void setParameter_KuPu(float new_Ku, float new_Pu);
TakumiToda 0:be531c5604db 16 void reset(float target);
TakumiToda 0:be531c5604db 17
TakumiToda 0:be531c5604db 18 float Ku;
TakumiToda 0:be531c5604db 19 float Pu;
TakumiToda 0:be531c5604db 20 float Kp;
TakumiToda 0:be531c5604db 21 float Ti;
TakumiToda 0:be531c5604db 22 float Td;
TakumiToda 0:be531c5604db 23 float Ki;
TakumiToda 0:be531c5604db 24 float Kd;
TakumiToda 0:be531c5604db 25
TakumiToda 0:be531c5604db 26 private:
TakumiToda 0:be531c5604db 27 Timer *timer;
TakumiToda 0:be531c5604db 28 float integral;
TakumiToda 0:be531c5604db 29 float prev_hensa;
TakumiToda 0:be531c5604db 30 float nowtime;
TakumiToda 0:be531c5604db 31 float prev_time;
TakumiToda 0:be531c5604db 32 float lateD;
TakumiToda 0:be531c5604db 33 };
TakumiToda 0:be531c5604db 34
TakumiToda 0:be531c5604db 35 #endif