Fork of PID by
Diff: PID.hpp
- Revision:
- 2:73618cad4762
- Child:
- 4:ed6aea0299df
diff -r f2824a8f7962 -r 73618cad4762 PID.hpp --- /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