PID
Dependents: Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor
Fork of PID by
Diff: PID.cpp
- Revision:
- 6:775c9421fe3b
- Parent:
- 5:3519920d064d
--- a/PID.cpp Wed Sep 23 06:01:32 2015 +0000 +++ b/PID.cpp Fri Oct 30 12:47:54 2015 +0000 @@ -52,6 +52,7 @@ { timer = p.timer; data = 0; + bias=0; GAIN_P = p.GAIN_P; GAIN_I = p.GAIN_I; GAIN_D = p.GAIN_D; @@ -63,6 +64,7 @@ { timer=T; data = 0; + bias=0; GAIN_P = tauKp; GAIN_I = tauKi; GAIN_D = tauKd; @@ -137,7 +139,7 @@ else if(data<OutMin)s_dErrIntg=OutMin; else s_dErrIntg += (dErr+dErr_prev )* T /2.0; // 制御入力 - dRet = GAIN_P * dErr + GAIN_I * s_dErrIntg + GAIN_D*dErrDiff; + dRet = bias+GAIN_P * dErr + GAIN_I * s_dErrIntg + GAIN_D*dErrDiff; dErr_prev = dErr; if(dRet>OutMax)data=OutMax; @@ -150,3 +152,4 @@ +