Diff: PID.h

Revision:

7:66e3f3fd08d8

Parent:

6:775c9421fe3b

--- a/PID.h	Fri Oct 30 12:47:54 2015 +0000
+++ b/PID.h	Sun Aug 07 12:47:39 2016 +0000
@@ -10,25 +10,34 @@
     PID& operator=(const PID &p) {
         return *this;
     }
+public:
+
     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;
+    float s_dErrIntg ,dErr_prev;
     void start();
     void pid_reset();
-    void setInterval(double inter);
+    void setInterval(float inter);
     //Getters.
     void stop();
-    double dTarget;
-    double dPoint;
+    float dTarget;
+    float 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;
+    float GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
+    float GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
+    float GAIN_D ;//0.2
+    float data;
+    double dErrDiff;
+    
+    float userInt;
+    float userDiff;
+    float userProp;
+    bool intF;
+    bool diffF;
+    bool propF;
 private:
     float bias;
     float OutMax;
@@ -38,13 +47,13 @@
     float OutSpan;
     float InSpan;
     Timer *timer;
+    float prev_time;
     float gettime() {
-        static float prev_time;
         float a = timer->read()-prev_time;
         prev_time=timer->read();
         return a;
     }
-    //Ticker T;
+    Ticker T;
     float interval;
 
 };