hidaka sato / PID

Ultimate Gain method

Dependents:   2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test

PID.h

Committer:
sgrsn
Date:
2016-08-06
Revision:
0:35a0b92fe34e
Child:
1:6939c241c6dc

File content as of revision 0:35a0b92fe34e:

#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