Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

shared/MD_PID/MD_PID.h.txt

Committer:
e2011220
Date:
2021-04-14
Revision:
0:ee7e9405e1c7

File content as of revision 0:ee7e9405e1c7:

#ifndef MD_PID_H_
#define MD_PID_H_

#include <shared/MD/MD.h>
#include <shared/QEI/QEI.h>
#include <shared/PID_Control/PID_Control.h>

class MD_PID : public PID_Control
{
public:
    MD_PID( MD *md, QEI *qei,
            double kp = 0, double ki = 0, double kd = 0,
			double max_speed = 0);
    virtual void drive(double target, double interval);
    virtual void brake(double target);
    virtual void free();
    void set_max_speed(double max_speed);
    
    double get_duty();
    
private:
    MD *_md;
    QEI *_qei;
    double _duty;
    double _max_speed;
    
    double read_vel();
};

#endif