Yuta Togashi / PID

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Dependents:   Tourobo2022_TBCMotorDriver

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Show/hide line numbers Pid.h Source File

Pid.h

00001 #ifndef PID_H
00002 #define PID_H
00003 
00004 #include "mbed.h"
00005 
00006 enum MODE_NUMBER{
00007     POSITION_PID,
00008     SPEED_PID,
00009 };
00010 
00011 class Pid {
00012     public:
00013         void setup(float Kp,float Ki,float Kd,short PidMode = 0,float period = 0.01f);
00014         
00015         void setupLimit(float UpperLimit,float FallLimit);
00016         
00017         void calculate(float targetValue,float nowValue,bool enableErrorIntegration=true);
00018         
00019         void reset();
00020         
00021         float getDuty();
00022   
00023     private:
00024         
00025         float KP,KI,KD,PERIOD,duty,now,before,upperLimit,fallLimit;
00026         float p,i,d,e,e1,e2;
00027         short MODE;
00028         //Timer pid;
00029 };
00030 
00031 #endif
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