Kiko Ishimoto / PIDonerobot

pid

Dependents:   OneCircleRobot

Fork of PID by Kiko Ishimoto

PID.h

Committer:
kikoaac
Date:
2015-08-18
Revision:
3:34f4f22b18e7
Parent:
2:14176355508a
Child:
4:a3c85727f0f6
Child:
5:3519920d064d

File content as of revision 3:34f4f22b18e7:


#ifndef PID_H
#define PID_H

#include "mbed.h"
class PID 
{    
    public:
        
        PID(float tauKc, float tauKi, float tauKd);
    
        double s_dErrIntg ,dErr_prev;
        void Start();
        void 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:
        Timer timer;
        Ticker T;
        float interval;
        void PIDctrl();
        
};

#endif