taka yamanouchi / PID

pid

PID.h

Committer:
sink
Date:
2019-11-19
Revision:
2:9dd174ee5ffc
Parent:
1:09b63bc8f46a

File content as of revision 2:9dd174ee5ffc:

#ifndef PID_H
#define PID_H
#include "mbed.h"

#define NU 0.0

class PID {
    
public:
    PID(double _INT_TIME);

    void set(double _P, double _I, double _D);
    
    double con (double _error);
    
    void reset();
    void Ireset();
    
private:
    
    double _pre_err;
    double _time;
    double _p;
    double _i;
    double _d;
    double _integ;
    
};

#endif