Pid.h

[詳解]

#ifndef PID_H
#define PID_H

struct PidParameter {
  double p_gain;
  double i_gain;
  double d_gain;
  double del;
  constexpr PidParameter(double p_gain_ = 0.0, double i_gain_ = 0.0, double d_gain_ = 0.0,
                         double del_ = 0.004)
    : p_gain(p_gain_), i_gain(i_gain_), d_gain(d_gain_), del(del_)
  {
  }
  void set(double p_gain_, double i_gain_, double d_gain_)
  {
    p_gain = p_gain_;
    i_gain = i_gain_;
    d_gain = d_gain_;
  }
};

class Pid {
 public:
  Pid(double p_gain_, double i_gain_, double d_gain_, double target_);
  Pid(double p_gain_, double i_gain_, double d_gain_, double diff_, double integral_,
      double target_, double output_);

  void setPid(double p_gain_, double i_gain_, double d_gain_, double target_);

 protected:
  void calculate(double light_value);

  double get_output();

  double limitOutput(double pid_value);

 private:
  PidParameter param;
  double old_diff;
  double integral;
  double target;
  double output;
};

#endif