taka yamanouchi / PID

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Diff: PID.cpp

Revision:
0:88340ec1ec48
Child:
1:09b63bc8f46a
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.cpp	Tue Jul 23 04:16:56 2019 +0000
@@ -0,0 +1,35 @@
+#include "PID.h"
+
+PID::PID(double INT_TIME){
+    time = INT_TIME;
+    reset();
+}
+
+void PID::set(double P, double I, double D){
+    p = P;
+    i = I;
+    d = D;
+}
+
+double PID::con (double error){
+    static double pre_err = 0.0;
+    double result = 0;
+    
+    result += error * p;
+    
+    integ += (error + pre_err) / 2.0 * time;
+    result += integ * i;
+    
+    result += (error - pre_err) / time;
+    
+    pre_err = error;
+    
+    return result;
+}
+    
+void PID::reset(){
+    p = 0.0;
+    i = 0.0;
+    d = 0.0;
+    integ = 0.0;
+}
\ No newline at end of file