nakashima Kohei / take_mbed

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pid.hpp@6:87fd489a9801, 2021-10-21 (annotated)

Committer:
hamohamo
Date:
Thu Oct 21 16:16:01 2021 +0000
Revision:
6:87fd489a9801
Parent:
5:8dec5e011b3c 
lkn

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #ifndef take_PID
hamohamo 0:0a9ce35078a3 2 #define take_PID
hamohamo 0:0a9ce35078a3 3
hamohamo 0:0a9ce35078a3 4 #ifndef M_PI
hamohamo 0:0a9ce35078a3 5 #define M_PI 3.14159265358979
hamohamo 0:0a9ce35078a3 6 #endif
hamohamo 1:59244694c2bb 7 /*INFO
hamohamo 1:59244694c2bb 8 *coreを使わない場合idはなんでもいいです
hamohamo 1:59244694c2bb 9 *UpdateのValueには現在値、ターゲットには目標値、dtには微分する時間を入れてください
hamohamo 5:8dec5e011b3c 10 *getmvで操作量を含んだ結果を取得できます
hamohamo 1:59244694c2bb 11 *
hamohamo 1:59244694c2bb 12 */
hamohamo 0:0a9ce35078a3 13 class PID{
hamohamo 0:0a9ce35078a3 14 public:
hamohamo 0:0a9ce35078a3 15 PID(double kp,double ki,double kd,int id);
hamohamo 0:0a9ce35078a3 16 ~PID();
hamohamo 2:d88ff6dda390 17 void setLimit(double max,double min);
hamohamo 6:87fd489a9801 18 void Update(double Value,double Target,double dt,bool addmv = true);
hamohamo 5:8dec5e011b3c 19 double getmv();
hamohamo 5:8dec5e011b3c 20 double mv;
hamohamo 0:0a9ce35078a3 21 double value;
hamohamo 0:0a9ce35078a3 22 double target;
hamohamo 5:8dec5e011b3c 23 double e[3];
hamohamo 2:d88ff6dda390 24 double Max;
hamohamo 0:0a9ce35078a3 25 private:
hamohamo 2:d88ff6dda390 26 double Min;
hamohamo 0:0a9ce35078a3 27 double Kp;
hamohamo 0:0a9ce35078a3 28 double Ki;
hamohamo 0:0a9ce35078a3 29 double Kd;
hamohamo 0:0a9ce35078a3 30 double P;
hamohamo 0:0a9ce35078a3 31 double I;
hamohamo 0:0a9ce35078a3 32 double D;
hamohamo 0:0a9ce35078a3 33 double integral;
hamohamo 0:0a9ce35078a3 34 int ID;
hamohamo 0:0a9ce35078a3 35 };
hamohamo 0:0a9ce35078a3 36
hamohamo 0:0a9ce35078a3 37 #endif