Kazushi Yamanobe / Mbed 2 deprecated R-ciliatable_4

latest version 9/26

Dependencies:   mbed

pid.h@0:0d02a451e79d, 2021-10-10 (annotated)

Committer:
Yamanobe
Date:
Sun Oct 10 04:47:14 2021 +0000
Revision:
0:0d02a451e79d
slave program (at 9/26)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yamanobe 0:0d02a451e79d 1 /*********************************************
Yamanobe 0:0d02a451e79d 2 PID library
Yamanobe 0:0d02a451e79d 3
Yamanobe 0:0d02a451e79d 4 PositionPid : 位置型
Yamanobe 0:0d02a451e79d 5 SpeedPid : 速度型
Yamanobe 0:0d02a451e79d 6
Yamanobe 0:0d02a451e79d 7 setup(float Kp, float Ki, float Kd, float dt)
Yamanobe 0:0d02a451e79d 8 パラメータ、制御周期の設定
Yamanobe 0:0d02a451e79d 9 Kp : Pゲイン
Yamanobe 0:0d02a451e79d 10 Ki : Iゲイン
Yamanobe 0:0d02a451e79d 11 Kd : Dゲイン
Yamanobe 0:0d02a451e79d 12 dt : 制御周期[s]
Yamanobe 0:0d02a451e79d 13
Yamanobe 0:0d02a451e79d 14 calculate(float target, float nowValue)
Yamanobe 0:0d02a451e79d 15 PIDの計算をする
Yamanobe 0:0d02a451e79d 16 target : 目標値
Yamanobe 0:0d02a451e79d 17 nowValue : 現在値
Yamanobe 0:0d02a451e79d 18
Yamanobe 0:0d02a451e79d 19 duty()
Yamanobe 0:0d02a451e79d 20 計算結果を-1~1で返す
Yamanobe 0:0d02a451e79d 21 *********************************************/
Yamanobe 0:0d02a451e79d 22
Yamanobe 0:0d02a451e79d 23 #ifndef MBED_PID_H
Yamanobe 0:0d02a451e79d 24 #define MBED_PID_H
Yamanobe 0:0d02a451e79d 25
Yamanobe 0:0d02a451e79d 26 #include "mbed.h"
Yamanobe 0:0d02a451e79d 27
Yamanobe 0:0d02a451e79d 28 class PositionPid
Yamanobe 0:0d02a451e79d 29 {
Yamanobe 0:0d02a451e79d 30 public :
Yamanobe 0:0d02a451e79d 31 void setup(float Kp, float Ki, float Kd, float dt);
Yamanobe 0:0d02a451e79d 32
Yamanobe 0:0d02a451e79d 33 void calculate(float target, float nowValue);
Yamanobe 0:0d02a451e79d 34
Yamanobe 0:0d02a451e79d 35 float duty();
Yamanobe 0:0d02a451e79d 36
Yamanobe 0:0d02a451e79d 37 private :
Yamanobe 0:0d02a451e79d 38 float kp, ki, kd,
Yamanobe 0:0d02a451e79d 39 time, frequency,
Yamanobe 0:0d02a451e79d 40 old, now,
Yamanobe 0:0d02a451e79d 41 p, i, d, result;
Yamanobe 0:0d02a451e79d 42 };
Yamanobe 0:0d02a451e79d 43
Yamanobe 0:0d02a451e79d 44 class SpeedPid
Yamanobe 0:0d02a451e79d 45 {
Yamanobe 0:0d02a451e79d 46 public :
Yamanobe 0:0d02a451e79d 47 void setup(float Kp, float Ki, float Kd, float dt);
Yamanobe 0:0d02a451e79d 48
Yamanobe 0:0d02a451e79d 49 void calculate(float target, float nowValue);
Yamanobe 0:0d02a451e79d 50
Yamanobe 0:0d02a451e79d 51 float duty();
Yamanobe 0:0d02a451e79d 52
Yamanobe 0:0d02a451e79d 53 private :
Yamanobe 0:0d02a451e79d 54 float kp, ki, kd,
Yamanobe 0:0d02a451e79d 55 time, frequency,
Yamanobe 0:0d02a451e79d 56 e, e1, e2,
Yamanobe 0:0d02a451e79d 57 p, i, d, result;
Yamanobe 0:0d02a451e79d 58 };
Yamanobe 0:0d02a451e79d 59
Yamanobe 0:0d02a451e79d 60 #endif