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

Committer:
TakumiToda
Date:
2019-01-11
Revision:
0:be531c5604db
Child:
1:4705d8930670

File content as of revision 0:be531c5604db:

#ifndef PID_H
#define PID_H

#include "mbed.h"


class PID {
public:
  PID();
  float control(float target, float nowrpm, Timer *timer);
  float PI_lateD(float target, float nowrpm, Timer *timer);
  float control_P(float target, float nowrpm, float new_Kp);
  float control_PI(float target, float nowrpm, Timer *timer);
  void setParameter_pid(float new_Kp, float new_Ki, float new_Kd);
  void setParameter_KuPu(float new_Ku, float new_Pu);
  void reset(float target);

  float Ku;
  float Pu;
  float Kp;
  float Ti;
  float Td;
  float Ki;
  float Kd;

private:
  Timer *timer;
  float integral;
  float prev_hensa;
  float nowtime;
  float prev_time;
  float lateD;
};

#endif