kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

ライブラリ化を行った後

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: pid.h

Revision:
7:c4ae1d001d09
Parent:
0:bf96e953cdb8
diff -r acefbf83ffe1 -r c4ae1d001d09 pid.h
--- a/pid.h	Fri Jun 30 05:52:04 2017 +0000
+++ b/pid.h	Sat Jul 01 10:12:46 2017 +0000
@@ -28,37 +28,4 @@
     float kp, ki, kd,
           old, now,
           p, i, d, result;
-};
-
-class Speed_pid {
-public  :
-    void setup(float Kp, float Ki, float Kd) {
-        kp = Kp;
-        ki = Ki;
-        kd = Kd;
-    }
-
-    void cal(float target, float nowval, float dt) {
-        e2 = e1;
-        e1 = e;
-        e = nowval - target;
-        p = e - e1;
-        i = e*dt;
-        d = (e-2*e1+e2)/dt;
-        result = result + (kp*p+ki*i+kd*d);
-        if (result > 1.0f) {
-            result = 1.0f;
-        } else if (result < -1.0f) {
-            result = -1.0f;
-        }
-    }
-
-    float duty() {
-        return result;
-    }
-
-private :
-    float kp, ki, kd,
-          e, e1, e2,
-          p, i, d, result;
 };
\ No newline at end of file