nakashima Kohei / NK_mbedsdffs

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers NK_PID.hpp Source File

NK_PID.hpp

00001 #ifndef NK_PID
00002 #define NK_PID
00003 
00004 #ifndef M_PI
00005 #define M_PI 3.14159265358979
00006 #endif
00007 
00008 class Nk_pid{
00009 public:
00010   Nk_pid(double kp,double ki,double kd,double freq);
00011   ~Nk_pid();
00012   void SetParam(double Value,double Target);
00013   void SetLimit(double max_p,double min_p,double max_m,double min_m);
00014   double GetGain(double xvalue);
00015   double res;
00016   double value;
00017   double target;
00018   double err[2];
00019 private:
00020   double Max_P;
00021   double Min_P;
00022   double Max_M;
00023   double Min_M;
00024   double Kp;
00025   double Ki;
00026   double Kd;
00027   double Freq;
00028   double G_P;
00029   double G_I;
00030   double G_D;
00031   double integral;
00032   double rtn;
00033 };
00034 
00035 #endif
Generated on Sat Aug 27 2022 19:56:44 by  doxygen 1.7.2