PID用ライブラリ ※位置型PIDと速度型PIDの選択式
Dependents: Tourobo2022_TBCMotorDriver
Pid.h
- Committer:
- YutaTogashi
- Date:
- 2021-12-30
- Revision:
- 6:4074aded9b9d
- Parent:
- 4:3c2651359136
File content as of revision 6:4074aded9b9d:
#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 setupLimit(float UpperLimit,float FallLimit); void calculate(float targetValue,float nowValue,bool enableErrorIntegration=true); void reset(); float getDuty(); private: float KP,KI,KD,PERIOD,duty,now,before,upperLimit,fallLimit; float p,i,d,e,e1,e2; short MODE; //Timer pid; }; #endif