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PID.h@3:3bc8034f569e, 2018-03-24 (annotated)
- Committer:
- kenken0721
- Date:
- Sat Mar 24 10:50:11 2018 +0000
- Revision:
- 3:3bc8034f569e
- Parent:
- 0:d8b5fa590ca2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenken0721 | 0:d8b5fa590ca2 | 1 | #ifndef PID_H |
| kenken0721 | 0:d8b5fa590ca2 | 2 | #define PID_H |
| kenken0721 | 0:d8b5fa590ca2 | 3 | |
| kenken0721 | 0:d8b5fa590ca2 | 4 | #include "mbed.h" |
| kenken0721 | 0:d8b5fa590ca2 | 5 | |
| kenken0721 | 0:d8b5fa590ca2 | 6 | class PID { |
| kenken0721 | 0:d8b5fa590ca2 | 7 | private: |
| kenken0721 | 3:3bc8034f569e | 8 | //Timer timer; |
| kenken0721 | 0:d8b5fa590ca2 | 9 | double Setpoint; |
| kenken0721 | 0:d8b5fa590ca2 | 10 | double KP; |
| kenken0721 | 0:d8b5fa590ca2 | 11 | double KI; |
| kenken0721 | 0:d8b5fa590ca2 | 12 | double KD; |
| kenken0721 | 3:3bc8034f569e | 13 | //unsigned long dt; |
| kenken0721 | 0:d8b5fa590ca2 | 14 | double P; |
| kenken0721 | 0:d8b5fa590ca2 | 15 | double I; |
| kenken0721 | 0:d8b5fa590ca2 | 16 | double D; |
| kenken0721 | 0:d8b5fa590ca2 | 17 | double preP; |
| kenken0721 | 0:d8b5fa590ca2 | 18 | public: |
| kenken0721 | 0:d8b5fa590ca2 | 19 | PID(double,double,double,double); |
| kenken0721 | 0:d8b5fa590ca2 | 20 | void init(); |
| kenken0721 | 0:d8b5fa590ca2 | 21 | double compute(double); |
| kenken0721 | 0:d8b5fa590ca2 | 22 | }; |
| kenken0721 | 0:d8b5fa590ca2 | 23 | |
| kenken0721 | 0:d8b5fa590ca2 | 24 | #endif |