Takumi Nakagawara / PID

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Diff: PID.cpp

Revision:
1:4705d8930670
Parent:
0:be531c5604db
Child:
2:c8ab3e8d4c51
--- a/PID.cpp	Fri Jan 11 08:00:51 2019 +0000
+++ b/PID.cpp	Sun Apr 07 13:52:44 2019 +0000
@@ -1,15 +1,16 @@
 #include "PID.h"
 #include "mbed.h"
 
-PID::PID(){
+PID::PID(Timer *_timer){
   integral = 0;
   prev_hensa = 0;
   nowtime = 0;
   prev_time = 0;
   lateD = 0;
+  timer = _timer;
 }
 
-float PID::control(float target, float nowrpm, Timer *timer){
+float PID::control(float target, float nowrpm){
   //timer->start();
   nowtime =timer->read();
   float hensa = target - nowrpm;
@@ -22,7 +23,7 @@
   return sousaryou;
 }
 
-float PID::PI_lateD(float target, float nowrpm, Timer *timer){
+float PID::PI_lateD(float target, float nowrpm){
   nowtime = (*timer).read();
   float hensa = target - nowrpm;
   float dt = nowtime - prev_time;
@@ -40,7 +41,7 @@
   return sousaryou;
 }
 
-float PID::control_PI(float target, float nowrpm, Timer *timer){
+float PID::control_PI(float target, float nowrpm){
   Kp = 0.45 * Ku;
   Ti = 0.83 * Pu;
   Ki = (1 / Ti) * Kp;