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Diff: pid.h
- Revision:
- 0:4ecdddd912e2
diff -r 000000000000 -r 4ecdddd912e2 pid.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pid.h Sun Sep 24 05:23:58 2017 +0000 @@ -0,0 +1,62 @@ +/********************************************* +PID library + +PositionPid : 位置型 +SpeedPid : 速度型 + +setup(float Kp, float Ki, float Kd, float dt) +パラメータ、制御周期の設定 +Kp : Pゲイン +Ki : Iゲイン +Kd : Dゲイン +dt : 制御周期[s] + +calculate(float target, float nowValue) +PIDの計算をする +target : 目標値 +nowValue : 現在値 + +duty() +計算結果を-1~1で返す +*********************************************/ + +#ifndef MBED_PID_H +#define MBED_PID_H + +#include "mbed.h" + +class PositionPid +{ +public : + void setup(float Kp, float Ki, float Kd, float dt); + + void calculate(float target, float nowValue); + + float duty(); + + float duty_enableWidth(float duty_min, float duty_max); + +private : + float kp, ki, kd, + time, frequency, + old, now, + p, i, d, result; +}; + +class SpeedPid +{ +public : + void setup(float Kp, float Ki, float Kd, float dt); + + void calculate(float target, float nowValue); + + float duty(); + +private : + float kp, ki, kd, + time, frequency, + e, e1, e2, + p, i, d, result; +}; + +#endif \ No newline at end of file