etrobocon2018 feat.KatLab
770af34cce41ae9c30c41303275e1add2daae0c3
(with uncommitted changes)
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PID制御の計算を行うクラス [詳解]
#include "Pid.h"
公開メンバ関数 | |
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_) |
限定公開メンバ関数 | |
void | calculate (double light_value) |
double | get_output () |
double | limitOutput (double pid_value) |
Pid::Pid | ( | double | p_gain_, |
double | i_gain_, | ||
double | d_gain_, | ||
double | target_ | ||
) |
Pid::Pid | ( | double | p_gain_, |
double | i_gain_, | ||
double | d_gain_, | ||
double | diff_, | ||
double | integral_, | ||
double | target_, | ||
double | output_ | ||
) |
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protected |
PID制御の計算をする
light_value | 現在の値 |
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protected |
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protected |
void Pid::setPid | ( | double | p_gain_, |
double | i_gain_, | ||
double | d_gain_, | ||
double | target_ | ||
) |
Kp, Ki, Kd, 目標値を設定する
_p_gain | Kp |
_i_gain | Ki |
_d_gain | Kd |
_target | 目標値 |