ケンタ ミヤザキ
Dependents: nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
Diff: PID.h
- Revision:
- 0:d8b5fa590ca2
- Child:
- 3:3bc8034f569e
diff -r 000000000000 -r d8b5fa590ca2 PID.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Tue Jan 16 14:27:31 2018 +0000
@@ -0,0 +1,25 @@
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+
+class PID {
+private:
+ Timer timer;
+ double Setpoint;
+ double KP;
+ double KI;
+ double KD;
+ unsigned long dt;
+ unsigned long preTime;
+ double P;
+ double I;
+ double D;
+ double preP;
+public:
+ PID(double,double,double,double);
+ void init();
+ double compute(double);
+};
+
+#endif
\ No newline at end of file