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Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of
17robo_Practice1
by 
kusano kiyoshige
Diff: encorder.h
- Revision:
- 49:b041c815c063
- Parent:
- 33:64fd1bd83bac
--- a/encorder.h Wed Sep 13 00:19:44 2017 +0000
+++ b/encorder.h Wed Sep 13 01:25:07 2017 +0000
@@ -27,11 +27,20 @@
float duty() {
return result;
}
+
+ float duty_enableWidth(float duty_min, float duty_max){
+ if(now > duty_min && now < duty_max){ //nowは差
+ return 0.0;
+ }else{
+ return result;
+ }
+ }
private :
float kp, ki, kd,
old, now,
- p, i, d, result;
+ p, i, d, result,
+ duty_min, duty_max;
};
/*
class Speed_pid