File content as of revision 0:1ce8dacdff38:

//PID制御
#include "mbed.h"
#include "MPU6050.h"

const double Kp =0.3;
const double Ki =0.4;
const double Kd =0.5;

const double T  =0; //目標

MPU6050 mpu(p9,p10);
Serial pc(USBTX,USBRX);
PwmOut led(LED1);

int gyro[3];

double GX;
double Tgx;

int main() {
    GX = 0;
    while(1){
        //角度求める
        mpu.readGyroData(gyro);
        int gx = gyro[0]+3656-3505;
        //printf("%d\r\n",gx);
        
        double gX = gx*0.02562299;
        int gX1 = gX;
        double gX2 = gX1*0.01;
        
        GX = GX + gX2;
        
        Tgx = Tgx + abs(gX2);
        
        if(Tgx > 5){
            if(GX > 0){
                GX = GX - 0.3;
                }else{
                    GX = GX + 0.3;
                    }
                    Tgx=0;
            }
        //printf("GX %.2f\r\n",GX);
        
        wait(0.01);
        //PID()
        double c;
        double f1;
        f1 = T - GX;
        c = Kp*f1+Ki*f1*0.01+Kd*gX1;
        //printf("c %.2f\r\n",c);
        
        //回転トルク→duty比
        
        double d1;
        d1 = abs(c)/77;
        
        if(d1 > 1){
            d1 = 1;
            }
       
        //duty比からledを動かす。
        
        led = d1;
        }
    }