akihiro takeda / pid

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Diff: Pid.h

Revision:
0:2806fecd5288
diff -r 000000000000 -r 2806fecd5288 Pid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pid.h	Wed Sep 20 04:19:32 2017 +0000
@@ -0,0 +1,38 @@
+#ifndef MBED_PID_H
+#define MBED_PID_H
+
+#include "mbed.h"
+
+class PositionPid
+{
+public  :
+    void setup(float Kp, float Ki, float Kd, float dt);
+
+    void cal(float target, float nowval);
+
+    float duty();
+
+private :
+    float kp, ki, kd,
+          time, frequency,
+          old, now,
+          p, i, d, result;
+};
+
+class SpeedPid
+{
+public  :
+    void setup(float Kp, float Ki, float Kd, float dt);
+
+    void cal(float target, float nowval);
+
+    float duty();
+
+private :
+    float kp, ki, kd,
+          time, frequency,
+          e, e1, e2,
+          p, i, d, result;
+};
+
+#endif
\ No newline at end of file