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Diff: CalPID.h
- Revision:
- 3:634166991b10
- Parent:
- 2:0668932f9d5d
diff -r 0668932f9d5d -r 634166991b10 CalPID.h --- a/CalPID.h Thu Mar 18 12:29:04 2021 +0000 +++ b/CalPID.h Fri Dec 10 14:02:27 2021 +0000 @@ -12,11 +12,14 @@ 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