PID.h

00001 
00002 #ifndef PID_H
00003 #define PID_H
00004 
00005 #include "mbed.h"
00006 class PID
00007 {
00008 protected:
00009     PID(const PID& p);
00010     PID& operator=(const PID &p) {
00011         return *this;
00012     }
00013     void PIDctrl();
00014 public:
00015     void InputLimits(float max,float min);
00016     void OutputLimits(float max,float min);
00017     PID(float tauKc, float tauKi, float tauKd ,Timer *T);
00018     void setbias(float bias_){bias=bias_;}
00019     double s_dErrIntg ,dErr_prev;
00020     void start();
00021     void pid_reset();
00022     void setInterval(double inter);
00023     //Getters.
00024     void stop();
00025     double dTarget;
00026     double dPoint;
00027     // PI制御ゲイン
00028     double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
00029     double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
00030     double GAIN_D ;//0.2
00031     double data;
00032 private:
00033     float bias;
00034     float OutMax;
00035     float InMax;
00036     float OutMin;
00037     float InMin;
00038     float OutSpan;
00039     float InSpan;
00040     Timer *timer;
00041     float gettime() {
00042         static float prev_time;
00043         float a = timer->read()-prev_time;
00044         prev_time=timer->read();
00045         return a;
00046     }
00047     //Ticker T;
00048     float interval;
00049 
00050 };
00051 
00052 #endif