Diff: CalPID.h

Revision:

1:ce6f0674ab0d

Parent:

0:76fdba038ca7

Child:

2:0668932f9d5d

diff -r 76fdba038ca7 -r ce6f0674ab0d CalPID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CalPID.h	Thu Mar 18 12:23:00 2021 +0000
@@ -0,0 +1,26 @@
+#ifndef CALPIDF_H
+#define CALPIDF_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
\ No newline at end of file