tarou yamada / PID_

　

Dependents:   YMotor

Fork of PID by tarou yamada

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