hidaka sato
Ultimate Gain method
Dependents: 2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test
Diff: PID.h
- Revision:
- 0:35a0b92fe34e
- Child:
- 1:6939c241c6dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Sat Aug 06 05:31:34 2016 +0000
@@ -0,0 +1,31 @@
+#ifndef PID_H
+#define PID_H
+#include "mbed.h"
+
+class PID
+{
+ public:
+ PID(Timer *T);
+ float control(float target, float nowrpm);
+ float control_P(float target, float nowrpm, float new_Kp);
+ void set_parameter(float new_Ku, float new_Pu);
+ void reset();
+
+ private:
+ Timer timer;
+ float integral;
+ float prev_hensa;
+ float nowtime;
+ float prev_time;
+
+ float Ku;
+ float Pu;
+
+ float Kp;
+ float Ti;
+ float Td;
+ float Ki;
+ float Kd;
+};
+
+#endif
\ No newline at end of file