taka yamanouchi / PID

pid

Diff: PID.h

Revision:
2:9dd174ee5ffc
Parent:
1:09b63bc8f46a
--- a/PID.h	Tue Jul 23 04:51:27 2019 +0000
+++ b/PID.h	Tue Nov 19 09:42:59 2019 +0000
@@ -7,16 +7,18 @@
 class PID {
     
 public:
-    PID(double INT_TIME);
+    PID(double _INT_TIME);
 
-    void set(double P, double I, double D);
+    void set(double _P, double _I, double _D);
     
-    double con (double error);
+    double con (double _error);
     
     void reset();
+    void Ireset();
     
 private:
     
+    double _pre_err;
     double _time;
     double _p;
     double _i;