nakashima Kohei / NK_mbedsdffs

p

NK_PID.hpp

Committer:
hamohamo
Date:
2021-08-22
Revision:
0:5f9d8f2ef93e

File content as of revision 0:5f9d8f2ef93e:

#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