自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
PIDco.hpp
00001 #ifndef PID_CO_H 00002 #define PID_CO_H 00003 #include "mbed.h" 00004 00005 #define Kp 0.0001 00006 #define Ki 0.0000014 00007 #define Kd 0.0000001 00008 #define co (108 * 3.1415926535897) / 500 00009 00010 00011 class PIDco{ 00012 00013 public://use in main.cpp 00014 PIDco(); 00015 double obt_spd(); 00016 void pass_val(double PULSE,double TARGET); 00017 void wheel_ctl(PinName PIN_A,PinName PIN_B); 00018 00019 private: 00020 void cal_spd(); 00021 void cal_Error(); 00022 void renew_Error(); 00023 void cal_Pval(); 00024 void cal_Ival(); 00025 void cal_Dval(); 00026 void cal_pwm(); 00027 00028 double spd; 00029 double Target,Error_a,Error_b; 00030 double Pval,Ival,Dval,Pwm; 00031 double Integral,dt; 00032 double diff,pulse_a,pulse_b; 00033 double v1p_set,v1m_set; 00034 }; 00035 00036 #endif 00037 00038 00039 00040 00041 00042
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