Diff: CommonLibraries/PID/PID.h

Revision:

4:ba9df71868df

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommonLibraries/PID/PID.h	Mon Oct 01 13:47:19 2018 +0000
@@ -0,0 +1,52 @@
+/*
+ * PID.h
+ *
+ * Created: 2016/07/01 17:47:45
+ *  Author: yuuki
+ */ 
+
+
+#ifndef PID_H_
+#define PID_H_
+
+namespace PID_SPACE
+{
+    class PID
+    {
+        private:
+        double diff[2];
+        double integral;
+        double deltaTime;
+        double dataRangeLower;
+        double dataRangeUpper;
+        double kp,ki,kd;
+        double mv;
+        
+        public:
+        // deltaTime:1サイクル時間( 1 / Process Frequency )
+        PID(double deltaTime);
+        PID(double deltaTime, double dataRangeLower, double dataRangeUpper);
+        PID(double deltaTime, double dataRangeLower, double dataRangeUpper, double KP, double KI, double KD);
+        
+        //パラメータを設定
+        void SetParam(double KP, double KI, double KD);
+        
+        //測定量を入力し操作量を取得
+        double SetPV(double sensorData, double targetData);
+        
+        //操作量を取得
+        double GetMV();
+        
+        //入力した値を制限して取得
+        double limit(double data, double lower, double upper);
+
+        //TODO:速度系PID関数
+        double SetSpeed(double sensorData,double targetData);
+    };
+    
+    
+}
+
+
+
+#endif /* PID_H_ */
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