Kiko Ishimoto / PIDonerobot

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Dependents:   OneCircleRobot

Fork of PID by Kiko Ishimoto

Diff: PID.cpp

Revision:
6:775c9421fe3b
Parent:
5:3519920d064d
Child:
7:66e3f3fd08d8
--- 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 @@
 
 
 
+