Yuta Togashi
PID用ライブラリ ※位置型PIDと速度型PIDの選択式
Dependents: Tourobo2022_TBCMotorDriver
Diff: Pid.h
- Revision:
- 0:630126b8994f
- Child:
- 1:4bc4c63ea283
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Pid.h Wed Dec 19 15:46:32 2018 +0000
@@ -0,0 +1,27 @@
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+enum MODE_NUMBER{
+ POSITION_PID,
+ SPEED_PID,
+};
+
+class Pid {
+ public:
+ void setup(float Kp,float Ki,float Kd,short PidMode = 0,float period = 0.01f);
+
+ void calculate(float targetValue,float nowValue);
+
+ float getDuty();
+
+ private:
+
+ float KP,KI,KD,PERIOD,duty,now,before;
+ float p,i,d,e,e1,e2;
+ short MODE;
+ //Timer pid;
+};
+
+#endif
\ No newline at end of file