Diff: pid.h

Revision:

0:40cfee72b03a

diff -r 000000000000 -r 40cfee72b03a pid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.h	Mon Jul 01 06:44:11 2019 +0000
@@ -0,0 +1,60 @@
+#ifndef PID_H
+#define PID_H
+#include "mbed.h"
+
+enum INDEX{
+	NOW,
+	OLD,
+	TWO_OLD,
+	INDEX_NUMBER,
+};
+
+enum RESULT{
+	P,
+	I,
+	D,
+	OUTPUT,
+	RESULT_NUMBER
+};
+
+namespace pid_constant{
+	const float UPPER_LIMIT =  1.0f;
+	const float LOWER_LIMIT = -1.0f;
+};
+
+class PositionPid{
+    public:
+        void period(float control_cycle);
+        void gain(float kp_, float ki_, float kd_);
+        void reset();
+        
+        void cal(float current,float target);
+        
+        float getState(int channel);
+        
+		
+	private:
+		float result[RESULT_NUMBER];	// = {P計算値, I計算値, D計算値, 出力値};
+		float difference[INDEX_NUMBER]; // = {現在の目標値と現在値の差分, 1つ前の目標値と現在地の差分};
+		float distance[INDEX_NUMBER];	// = {現在の位置, 1つ前のい位置};
+		float kp, ki, kd, dt,dt_reciprocal;
+			  
+};
+
+class SpeedPid{
+	public:				
+		void cal(float target_speed, float now_speed);
+			
+		float getState(int channel);
+		
+        void init(float kp_, float ki_, float kd_, float dt_);
+	private:
+		float 	dt,
+				gain[RESULT_NUMBER],
+				diffelence[RESULT_NUMBER],
+				result[RESULT_NUMBER];
+
+};
+
+
+#endif