miki sumito / Mbed 2 deprecated four_wheel_omni

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Show/hide line numbers PID.hpp Source File

PID.hpp

00001 #ifndef PID_
00002 #define PID_
00003 
00004 #if 0
00005   ~example~
00006     PID name(kpの値,kiの値,kdの値,一回のプログラムの時間(Δt))でこのクラスを使うことができる
00007     name.set(現在値,目標値)でPID制御の計算をしてくれる
00008     name.safety(最大値,最小値)でpwmの値が設定した値を超えないようにする(大事)
00009     name.pwmで求めたpwmの値を使うことができる
00010     name.reset()でpwmの値を0にする
00011 #endif
00012 
00013 class PID
00014 {
00015 public:
00016   PID(double kp,double ki,double kd,double dt);
00017   ~PID();
00018   double set(double,double); 
00019   void safety(double,double);
00020   void reset();
00021   double pwm;
00022 private:
00023    double integral;
00024    double e[2];
00025    double Kp;
00026    double Ki;
00027    double Kd;
00028    double dt;
00029    double getP;
00030    double getI;
00031    double getD;
00032 };
00033 
00034 #endif
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