nakashima Kohei
p
Diff: NK_PID.hpp
- Revision:
- 0:5f9d8f2ef93e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/NK_PID.hpp Sun Aug 22 13:01:50 2021 +0000
@@ -0,0 +1,35 @@
+#ifndef NK_PID
+#define NK_PID
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+class Nk_pid{
+public:
+ Nk_pid(double kp,double ki,double kd,double freq);
+ ~Nk_pid();
+ void SetParam(double Value,double Target);
+ void SetLimit(double max_p,double min_p,double max_m,double min_m);
+ double GetGain(double xvalue);
+ double res;
+ double value;
+ double target;
+ double err[2];
+private:
+ double Max_P;
+ double Min_P;
+ double Max_M;
+ double Min_M;
+ double Kp;
+ double Ki;
+ double Kd;
+ double Freq;
+ double G_P;
+ double G_I;
+ double G_D;
+ double integral;
+ double rtn;
+};
+
+#endif