Takeuchi Issei
/
4Omunisleeve3
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Diff: shared/PID_Control/PPID/PPID.h
- Revision:
- 0:ee7e9405e1c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/PID_Control/PPID/PPID.h Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,36 @@
+#ifndef PPID_H_
+#define PPID_H_
+
+#include "PID.h"
+
+class PPID : public PID
+{
+public:
+ PPID(double k = 0, double Ti = 0, double Td = 0, double target = 0, double current = 0)
+ {
+ PID::set_PID(k, Ti, Td);
+ set_state(target, current);
+ }
+ ~PPID(){}
+
+protected:
+
+ virtual double _get_control();
+ virtual void _calc_p();
+ virtual void _calc_i();
+ virtual void _calc_d();
+ virtual void _reset();
+
+private:
+
+ inline void _update(double *array, double present)
+ {
+ array[0] = array[1];
+ array[1] = present;
+ }
+ double _p, _i, _d;
+ double _diff[2];
+ double _integral;
+};
+
+#endif