tarou yamada
Fork of
PID
by 
tarou yamada
Diff: PID_impl.hpp
- Revision:
- 2:73618cad4762
- Child:
- 3:b28b34b89120
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_impl.hpp Thu Feb 25 16:22:59 2016 +0000
@@ -0,0 +1,33 @@
+#ifndef INCLUDED_PID_IMPL_H
+#define INCLUDED_PID_IMPL_H
+
+#include "PID.hpp"
+
+template <typename T, typename K>
+PID<T, K>::PID(K kp, K ki, K kd) :
+ kp_(kp),
+ ki_(ki),
+ kd_(kd),
+ integral_(),
+ prev_error_() {}
+
+template <typename T, typename K>
+inline T PID<T, K>::update(T error) {
+ // P制御(比例)
+ //T mv = static_cast<T>(kp_ * error);
+ T mv;
+ mv += kp_ * error;
+
+ // I制御(積分)
+ mv += ki_ * error;
+ integral_ += error;
+
+ // D制御(微分)
+ mv += kd_ * (error - prev_error_);
+
+ prev_error_ = error;
+
+ return mv;
+}
+
+#endif