tarou yamada
Fork of
PID
by 
tarou yamada
Diff: PID.hpp
- Revision:
- 2:73618cad4762
- Child:
- 4:ed6aea0299df
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.hpp Thu Feb 25 16:22:59 2016 +0000
@@ -0,0 +1,22 @@
+#ifndef INCLUDED_PID_H
+#define INCLUDED_PID_H
+
+template <typename T, typename K = T>
+class PID{
+public:
+ PID(K kp, K ki, K kd);
+
+ T update(T error);
+
+private:
+ const K kp_; // 比例制御係数
+ const K ki_; // 積分制御係数
+ const K kd_; // 微分制御係数
+
+ T integral_;
+ T prev_error_;
+};
+
+#include "PID_impl.hpp"
+
+#endif