tarou yamada
Fork of
PID
by 
tarou yamada
PID.hpp@6:4427687e6dbe, 2016-04-26 (annotated)
- Committer:
- inst
- Date:
- Tue Apr 26 08:25:02 2016 +0000
- Revision:
- 6:4427687e6dbe
- Parent:
- 4:ed6aea0299df
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 4:ed6aea0299df | 1 | #ifndef INCLUDED_MBED_STL_PID_H |
| inst | 4:ed6aea0299df | 2 | #define INCLUDED_MBED_STL_PID_H |
| inst | 4:ed6aea0299df | 3 | |
| inst | 6:4427687e6dbe | 4 | #include "mbed.h" |
| inst | 6:4427687e6dbe | 5 | |
| inst | 4:ed6aea0299df | 6 | namespace mbed_stl { |
| inst | 2:73618cad4762 | 7 | |
| inst | 6:4427687e6dbe | 8 | // ErrTypeは偏差の型．MVTypeは操作量の型．KTypeは係数の型． |
| inst | 6:4427687e6dbe | 9 | template <typename ErrType, typename MVType = ErrType, typename KType = ErrType> |
| inst | 2:73618cad4762 | 10 | class PID{ |
| inst | 2:73618cad4762 | 11 | public: |
| inst | 6:4427687e6dbe | 12 | PID(KType kp, KType ki, KType kd); |
| inst | 2:73618cad4762 | 13 | |
| inst | 6:4427687e6dbe | 14 | MVType update(ErrType error); |
| inst | 2:73618cad4762 | 15 | |
| inst | 2:73618cad4762 | 16 | private: |
| inst | 6:4427687e6dbe | 17 | const KType kp_; // 比例制御係数 |
| inst | 6:4427687e6dbe | 18 | const KType ki_; // 積分制御係数 |
| inst | 6:4427687e6dbe | 19 | const KType kd_; // 微分制御係数 |
| inst | 2:73618cad4762 | 20 | |
| inst | 6:4427687e6dbe | 21 | ErrType integral_; |
| inst | 6:4427687e6dbe | 22 | ErrType prev_error_; |
| inst | 6:4427687e6dbe | 23 | |
| inst | 6:4427687e6dbe | 24 | Timer timer_; |
| inst | 6:4427687e6dbe | 25 | float prev_time_us_; |
| inst | 2:73618cad4762 | 26 | }; |
| inst | 2:73618cad4762 | 27 | |
| inst | 4:ed6aea0299df | 28 | } /* namespace mbed_stl */ |
| inst | 4:ed6aea0299df | 29 | |
| inst | 2:73618cad4762 | 30 | #include "PID_impl.hpp" |
| inst | 2:73618cad4762 | 31 | |
| inst | 6:4427687e6dbe | 32 | typedef mbed_stl::PID<float> PID_f; |
| inst | 6:4427687e6dbe | 33 | typedef mbed_stl::PID<double> PID_d; |
| inst | 6:4427687e6dbe | 34 | |
| inst | 2:73618cad4762 | 35 | #endif |