Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

Diff: shared/MD_PID/MD_PID.h

Revision:
0:ee7e9405e1c7
diff -r 000000000000 -r ee7e9405e1c7 shared/MD_PID/MD_PID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/MD_PID/MD_PID.h	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,33 @@
+#ifndef MD_PID_H_
+#define MD_PID_H_
+
+#include <shared/MD/MD.h>
+#include <shared/QEI/QEI.h>
+#include "PID.h"
+#include "PPID.h"
+#include "PI_D.h"
+
+class MD_PID
+{
+public:
+    MD_PID( MD *md, QEI *qei,
+            double k = 0, double ti = 0, double td = 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;
+    PID *_pid;
+    double _duty;
+    double _max_speed;
+    
+    double read_vel();
+};
+
+#endif