hidaka sato / PID

Ultimate Gain method

Dependents:   2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test

PID.h

Committer:
sgrsn
Date:
2016-09-30
Revision:
4:3ca1603fbcda
Parent:
2:405224725072
Child:
5:6949e401a9ad

File content as of revision 4:3ca1603fbcda:

#ifndef PID_H
#define PID_H
#include "mbed.h"

class PID
{
    public:
        PID(Timer *T);
        float control(float target, float nowrpm);
        float PI_lateD(float target, float nowrpm);
        float control_P(float target, float nowrpm, float new_Kp);
        float control_PI(float target, float nowrpm);
        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 lateD;
};

#endif