nakashima Kohei / NK_mbedsdffs

p

NK_PID.hpp@0:5f9d8f2ef93e, 2021-08-22 (annotated)

Committer:
hamohamo
Date:
Sun Aug 22 13:01:50 2021 +0000
Revision:
0:5f9d8f2ef93e
pp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:5f9d8f2ef93e 1 #ifndef NK_PID
hamohamo 0:5f9d8f2ef93e 2 #define NK_PID
hamohamo 0:5f9d8f2ef93e 3
hamohamo 0:5f9d8f2ef93e 4 #ifndef M_PI
hamohamo 0:5f9d8f2ef93e 5 #define M_PI 3.14159265358979
hamohamo 0:5f9d8f2ef93e 6 #endif
hamohamo 0:5f9d8f2ef93e 7
hamohamo 0:5f9d8f2ef93e 8 class Nk_pid{
hamohamo 0:5f9d8f2ef93e 9 public:
hamohamo 0:5f9d8f2ef93e 10 Nk_pid(double kp,double ki,double kd,double freq);
hamohamo 0:5f9d8f2ef93e 11 ~Nk_pid();
hamohamo 0:5f9d8f2ef93e 12 void SetParam(double Value,double Target);
hamohamo 0:5f9d8f2ef93e 13 void SetLimit(double max_p,double min_p,double max_m,double min_m);
hamohamo 0:5f9d8f2ef93e 14 double GetGain(double xvalue);
hamohamo 0:5f9d8f2ef93e 15 double res;
hamohamo 0:5f9d8f2ef93e 16 double value;
hamohamo 0:5f9d8f2ef93e 17 double target;
hamohamo 0:5f9d8f2ef93e 18 double err[2];
hamohamo 0:5f9d8f2ef93e 19 private:
hamohamo 0:5f9d8f2ef93e 20 double Max_P;
hamohamo 0:5f9d8f2ef93e 21 double Min_P;
hamohamo 0:5f9d8f2ef93e 22 double Max_M;
hamohamo 0:5f9d8f2ef93e 23 double Min_M;
hamohamo 0:5f9d8f2ef93e 24 double Kp;
hamohamo 0:5f9d8f2ef93e 25 double Ki;
hamohamo 0:5f9d8f2ef93e 26 double Kd;
hamohamo 0:5f9d8f2ef93e 27 double Freq;
hamohamo 0:5f9d8f2ef93e 28 double G_P;
hamohamo 0:5f9d8f2ef93e 29 double G_I;
hamohamo 0:5f9d8f2ef93e 30 double G_D;
hamohamo 0:5f9d8f2ef93e 31 double integral;
hamohamo 0:5f9d8f2ef93e 32 double rtn;
hamohamo 0:5f9d8f2ef93e 33 };
hamohamo 0:5f9d8f2ef93e 34
hamohamo 0:5f9d8f2ef93e 35 #endif