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@3:34f4f22b18e7, 2015-08-18 (annotated)

Committer:
kikoaac
Date:
Tue Aug 18 04:45:10 2015 +0000
Revision:
3:34f4f22b18e7
Parent:
2:14176355508a
Child:
4:a3c85727f0f6
Child:
5:3519920d064d
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 2:14176355508a 12 double s_dErrIntg ,dErr_prev;
kikoaac 2:14176355508a 13 void Start();
kikoaac 3:34f4f22b18e7 14 void Reset();
kikoaac 1:aac6180820a4 15 void setInterval(double inter);
kikoaac 1:aac6180820a4 16 //Getters.
kikoaac 1:aac6180820a4 17 void stop();
kikoaac 1:aac6180820a4 18 double dTarget; double dPoint;
kikoaac 1:aac6180820a4 19 // PI制御ゲイン
kikoaac 1:aac6180820a4 20 double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
kikoaac 1:aac6180820a4 21 double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
kikoaac 1:aac6180820a4 22 double GAIN_D ;//0.2
kikoaac 1:aac6180820a4 23 double data;
kikoaac 1:aac6180820a4 24 private:
kikoaac 1:aac6180820a4 25 Timer timer;
kikoaac 1:aac6180820a4 26 Ticker T;
kikoaac 1:aac6180820a4 27 float interval;
kikoaac 2:14176355508a 28 void PIDctrl();
kikoaac 1:aac6180820a4 29
aberk 0:6e12a3e5af19 30 };
aberk 0:6e12a3e5af19 31
kikoaac 1:aac6180820a4 32 #endif