taka yamanouchi / PID

pid

Files at this revision

API Documentation at this revision

Revision 2:9dd174ee5ffc, committed 2019-11-19

Comitter:
sink
Date:
Tue Nov 19 09:42:59 2019 +0000
Parent:
1:09b63bc8f46a
Commit message:
?

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file
PID.h Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Tue Jul 23 04:51:27 2019 +0000
+++ b/PID.cpp	Tue Nov 19 09:42:59 2019 +0000
@@ -1,18 +1,18 @@
 #include "PID.h"
 
-PID::PID(double INT_TIME){
-    _time = INT_TIME;
+PID::PID(double _INT_TIME){
+    _time = _INT_TIME;
+    _pre_err = 0;
     reset();
 }
 
-void PID::set(double P, double I, double D){
-    _p = P;
-    _i = I;
-    _d = D;
+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;
@@ -32,4 +32,8 @@
     _i = 0.0;
     _d = 0.0;
     _integ = 0.0;
+}
+
+void PID::Ireset(){
+    _integ = 0.0;
 }
\ No newline at end of file

--- 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;