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Dependencies: mbed TrapezoidControl QEI
CommonLibraries/PID/PID.h@42:4f9689c0a349, 2019-09-30 (annotated)
- Committer:
- yabahiro
- Date:
- Mon Sep 30 11:33:22 2019 +0000
- Revision:
- 42:4f9689c0a349
- Parent:
- 4:ba9df71868df
qq;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
7ka884 | 4:ba9df71868df | 1 | /* |
7ka884 | 4:ba9df71868df | 2 | * PID.h |
7ka884 | 4:ba9df71868df | 3 | * |
7ka884 | 4:ba9df71868df | 4 | * Created: 2016/07/01 17:47:45 |
7ka884 | 4:ba9df71868df | 5 | * Author: yuuki |
7ka884 | 4:ba9df71868df | 6 | */ |
7ka884 | 4:ba9df71868df | 7 | |
7ka884 | 4:ba9df71868df | 8 | |
7ka884 | 4:ba9df71868df | 9 | #ifndef PID_H_ |
7ka884 | 4:ba9df71868df | 10 | #define PID_H_ |
7ka884 | 4:ba9df71868df | 11 | |
7ka884 | 4:ba9df71868df | 12 | namespace PID_SPACE |
7ka884 | 4:ba9df71868df | 13 | { |
7ka884 | 4:ba9df71868df | 14 | class PID |
7ka884 | 4:ba9df71868df | 15 | { |
7ka884 | 4:ba9df71868df | 16 | private: |
7ka884 | 4:ba9df71868df | 17 | double diff[2]; |
7ka884 | 4:ba9df71868df | 18 | double integral; |
7ka884 | 4:ba9df71868df | 19 | double deltaTime; |
7ka884 | 4:ba9df71868df | 20 | double dataRangeLower; |
7ka884 | 4:ba9df71868df | 21 | double dataRangeUpper; |
7ka884 | 4:ba9df71868df | 22 | double kp,ki,kd; |
7ka884 | 4:ba9df71868df | 23 | double mv; |
7ka884 | 4:ba9df71868df | 24 | |
7ka884 | 4:ba9df71868df | 25 | public: |
7ka884 | 4:ba9df71868df | 26 | // deltaTime:1サイクル時間( 1 / Process Frequency ) |
7ka884 | 4:ba9df71868df | 27 | PID(double deltaTime); |
7ka884 | 4:ba9df71868df | 28 | PID(double deltaTime, double dataRangeLower, double dataRangeUpper); |
7ka884 | 4:ba9df71868df | 29 | PID(double deltaTime, double dataRangeLower, double dataRangeUpper, double KP, double KI, double KD); |
7ka884 | 4:ba9df71868df | 30 | |
7ka884 | 4:ba9df71868df | 31 | //パラメータを設定 |
7ka884 | 4:ba9df71868df | 32 | void SetParam(double KP, double KI, double KD); |
7ka884 | 4:ba9df71868df | 33 | |
7ka884 | 4:ba9df71868df | 34 | //測定量を入力し操作量を取得 |
7ka884 | 4:ba9df71868df | 35 | double SetPV(double sensorData, double targetData); |
7ka884 | 4:ba9df71868df | 36 | |
7ka884 | 4:ba9df71868df | 37 | //操作量を取得 |
7ka884 | 4:ba9df71868df | 38 | double GetMV(); |
7ka884 | 4:ba9df71868df | 39 | |
7ka884 | 4:ba9df71868df | 40 | //入力した値を制限して取得 |
7ka884 | 4:ba9df71868df | 41 | double limit(double data, double lower, double upper); |
7ka884 | 4:ba9df71868df | 42 | |
7ka884 | 4:ba9df71868df | 43 | //TODO:速度系PID関数 |
7ka884 | 4:ba9df71868df | 44 | double SetSpeed(double sensorData,double targetData); |
7ka884 | 4:ba9df71868df | 45 | }; |
7ka884 | 4:ba9df71868df | 46 | |
7ka884 | 4:ba9df71868df | 47 | |
7ka884 | 4:ba9df71868df | 48 | } |
7ka884 | 4:ba9df71868df | 49 | |
7ka884 | 4:ba9df71868df | 50 | |
7ka884 | 4:ba9df71868df | 51 | |
7ka884 | 4:ba9df71868df | 52 | #endif /* PID_H_ */ |