Revision 6:775c9421fe3b, committed 2015-10-30

Comitter:

kikoaac

Date:

Fri Oct 30 12:47:54 2015 +0000

Parent:

5:3519920d064d

Commit message:

???

Changed in this revision

diff -r 3519920d064d -r 775c9421fe3b PID.cpp
--- 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 @@
 
 
 
+

diff -r 3519920d064d -r 775c9421fe3b PID.h
--- a/PID.h	Wed Sep 23 06:01:32 2015 +0000
+++ b/PID.h	Fri Oct 30 12:47:54 2015 +0000
@@ -1,51 +1,52 @@
-
-#ifndef PID_H
-#define PID_H
-
-#include "mbed.h"
-class PID
-{
-protected:
-    PID(const PID& p);
-    PID& operator=(const PID &p) {
-        return *this;
-    }
-    void PIDctrl();
-public:
-    void InputLimits(float max,float min);
-    void OutputLimits(float max,float min);
-    PID(float tauKc, float tauKi, float tauKd ,Timer *T);
-
-    double s_dErrIntg ,dErr_prev;
-    void start();
-    void pid_reset();
-    void setInterval(double inter);
-    //Getters.
-    void stop();
-    double dTarget;
-    double dPoint;
-    // PI制御ゲイン
-    double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
-    double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
-    double GAIN_D ;//0.2
-    double data;
-private:
-    float OutMax;
-    float InMax;
-    float OutMin;
-    float InMin;
-    float OutSpan;
-    float InSpan;
-    Timer *timer;
-    float gettime() {
-        static float prev_time;
-        float a = timer->read()-prev_time;
-        prev_time=timer->read();
-        return a;
-    }
-    //Ticker T;
-    float interval;
-
-};
-
+
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+class PID
+{
+protected:
+    PID(const PID& p);
+    PID& operator=(const PID &p) {
+        return *this;
+    }
+    void PIDctrl();
+public:
+    void InputLimits(float max,float min);
+    void OutputLimits(float max,float min);
+    PID(float tauKc, float tauKi, float tauKd ,Timer *T);
+    void setbias(float bias_){bias=bias_;}
+    double s_dErrIntg ,dErr_prev;
+    void start();
+    void pid_reset();
+    void setInterval(double inter);
+    //Getters.
+    void stop();
+    double dTarget;
+    double dPoint;
+    // PI制御ゲイン
+    double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
+    double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
+    double GAIN_D ;//0.2
+    double data;
+private:
+    float bias;
+    float OutMax;
+    float InMax;
+    float OutMin;
+    float InMin;
+    float OutSpan;
+    float InSpan;
+    Timer *timer;
+    float gettime() {
+        static float prev_time;
+        float a = timer->read()-prev_time;
+        prev_time=timer->read();
+        return a;
+    }
+    //Ticker T;
+    float interval;
+
+};
+
 #endif