ケンタ ミヤザキ / PID

　

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PID.h@0:d8b5fa590ca2, 2018-01-16 (annotated)

Committer:
kenken0721
Date:
Tue Jan 16 14:27:31 2018 +0000
Revision:
0:d8b5fa590ca2
Child:
3:3bc8034f569e
pid??

Who changed what in which revision?

UserRevisionLine numberNew 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 0:d8b5fa590ca2 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 0:d8b5fa590ca2 13 unsigned long dt;
kenken0721 0:d8b5fa590ca2 14 unsigned long preTime;
kenken0721 0:d8b5fa590ca2 15 double P;
kenken0721 0:d8b5fa590ca2 16 double I;
kenken0721 0:d8b5fa590ca2 17 double D;
kenken0721 0:d8b5fa590ca2 18 double preP;
kenken0721 0:d8b5fa590ca2 19 public:
kenken0721 0:d8b5fa590ca2 20 PID(double,double,double,double);
kenken0721 0:d8b5fa590ca2 21 void init();
kenken0721 0:d8b5fa590ca2 22 double compute(double);
kenken0721 0:d8b5fa590ca2 23 };
kenken0721 0:d8b5fa590ca2 24
kenken0721 0:d8b5fa590ca2 25 #endif