Kiko Ishimoto / PID

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Dependents:   Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor

Fork of PID by Aaron Berk

PID.h@1:aac6180820a4, 2015-06-19 (annotated)

Committer:
kikoaac
Date:
Fri Jun 19 06:36:10 2015 +0000
Revision:
1:aac6180820a4
Parent:
0:6e12a3e5af19
Child:
2:14176355508a
PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:6e12a3e5af19 1
aberk 0:6e12a3e5af19 2 #ifndef PID_H
aberk 0:6e12a3e5af19 3 #define PID_H
aberk 0:6e12a3e5af19 4
aberk 0:6e12a3e5af19 5 #include "mbed.h"
kikoaac 1:aac6180820a4 6 class PID
kikoaac 1:aac6180820a4 7 {
kikoaac 1:aac6180820a4 8 public:
kikoaac 1:aac6180820a4 9
kikoaac 1:aac6180820a4 10 PID(float tauKc, float tauKi, float tauKd);
aberk 0:6e12a3e5af19 11
kikoaac 1:aac6180820a4 12 void PIDctrl(void);
kikoaac 1:aac6180820a4 13 void start();
kikoaac 1:aac6180820a4 14 void setInterval(double inter);
kikoaac 1:aac6180820a4 15 //Getters.
kikoaac 1:aac6180820a4 16 void stop();
kikoaac 1:aac6180820a4 17 double dTarget; double dPoint;
kikoaac 1:aac6180820a4 18 // PI制御ゲイン
kikoaac 1:aac6180820a4 19 double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
kikoaac 1:aac6180820a4 20 double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
kikoaac 1:aac6180820a4 21 double GAIN_D ;//0.2
kikoaac 1:aac6180820a4 22 double data;
kikoaac 1:aac6180820a4 23 private:
kikoaac 1:aac6180820a4 24 Timer timer;
kikoaac 1:aac6180820a4 25 Ticker T;
kikoaac 1:aac6180820a4 26 float interval;
kikoaac 1:aac6180820a4 27
aberk 0:6e12a3e5af19 28 };
aberk 0:6e12a3e5af19 29
kikoaac 1:aac6180820a4 30 #endif