Kim Youngsik / Mbed 2 deprecated 0ROBOFRIEN_FCC_v1_12

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Show/hide line numbers ROBOFRIEN_PID.h Source File

ROBOFRIEN_PID.h

00001 
00002 #ifndef MBED_ROBOFRIEN_PID_H
00003 #define MBED_ROBOFRIEN_PID_H
00004 
00005 #include "mbed.h"
00006 
00007 
00008 
00009 class ROBOFRIEN_PID {
00010 public:
00011     void Init();
00012     void update( );
00013     float err_Rate[3];
00014     float output_Data[3];
00015     float RAT_KP[3], RAT_KD[3], RAT_KI[3];
00016     float ANG_KP[3], ANG_KD[3], ANG_KI[3];
00017     void RAT_INTEGER_RESET();
00018 private:
00019     int16_t RAT_INTEGER[3];
00020 };
00021 
00022 #endif
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