ryo shatari / CalPID1210

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CalPID.h

Committer:
shatari
Date:
2021-12-10
Revision:
3:634166991b10
Parent:
2:0668932f9d5d

File content as of revision 3:634166991b10:

#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:
    double present_parameter;
    
    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 getPresentPID();
    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