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CalPID.h
- Committer:
- yuki0108
- Date:
- 2021-03-18
- Revision:
- 2:0668932f9d5d
- Parent:
- 1:ce6f0674ab0d
- Child:
- 3:634166991b10
File content as of revision 2:0668932f9d5d:
#ifndef CALPID_H #define CALPID_H class CalPID { private: double kp, ki, kd; double delta_t; double deviation_old; double integral; double value_PID; double max_pid; public: CalPID(double kp_, double ki_, double kd_,double dt, double max);//PIDの係数3つ(PDの場合でもI=0とかにして3つ)制御周期、、最大値 void setParameter(double kp_, double ki_, double kd_); void setMaxValue(double max); void setDELTA_T(double delta_time); double calPID(double devia_present); double calPD(double devia_present); double calPI_D(double devia_present,double present_value);//微分先行型PID double calP_D(double devia_present,double present_value);//微分先行型PD void resetIntegral(); }; #endif