tarou yamada / PID

　

Diff: PID.h

Revision:
0:e3c87254ed02
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Fri Apr 24 07:37:55 2015 +0000
@@ -0,0 +1,25 @@
+#ifndef INCLUDED_PID_H
+#define INCLUDED_PID_H
+
+class PID{
+public:
+    PID();
+    ~PID();
+    
+    void updatePid( float diff );
+    
+    float mOldDiff;
+
+private:
+    static const float mPCoeff;
+    static const float mICoeff;
+    static const float mDCoeff;
+    
+    static const float mIRange;
+    
+    virtual void control( float c ) = 0;
+    
+    float mI;
+};
+
+#endif
\ No newline at end of file