Fork of PID by
PID.hpp
- Committer:
- inst
- Date:
- 2016-02-25
- Revision:
- 2:73618cad4762
- Child:
- 4:ed6aea0299df
File content as of revision 2:73618cad4762:
#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