tarou yamada / PID

　

PID.h

Committer:
inst
Date:
2015-04-24
Revision:
0:e3c87254ed02

File content as of revision 0:e3c87254ed02:

#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