hidaka sato / PID

Ultimate Gain method

Dependents:   2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test

Diff: PID.h

Revision:
2:405224725072
Parent:
1:6939c241c6dc
Child:
4:3ca1603fbcda
--- a/PID.h	Mon Aug 15 04:52:28 2016 +0000
+++ b/PID.h	Wed Aug 17 05:33:56 2016 +0000
@@ -10,21 +10,22 @@
         float control_P(float target, float nowrpm, float new_Kp);
         void set_parameter(float new_Ku, float new_Pu);
         void reset();
+
+        float Ku;
+        float Pu;
+        float Kp;
+        float Ti;
+        float Td;
+        float Ki;
+        float Kd;
         
+        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