40 lines
828 B
C
40 lines
828 B
C
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#ifndef PIBOT_PID_H_
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#define PIBOT_PID_H_
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//pid接口
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class PID
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{
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public:
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/* pid构造函数
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* @param input pid输入的地址
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* @param output pid输出的地址
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* @param kp， ki， kd pid参数
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* @param max_output 输出结构的限制值
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*/
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PID(float* input, float* feedback, float kp, float ki, float kd, unsigned short max_output);
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// pid计算
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short Compute(float interval);
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// 重置pid的值
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void Clear();
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//更新pid参数
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void Update(float kp, float ki, float kd, unsigned short _maxOutput);
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private:
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float kp;
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float ki;
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float kd;
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float max_output;
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float* input;
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float* feedback;
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float err; //比例值
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float integra;//积分值
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float derivative;//微分值
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float preErr; //上一次的输入反馈差值
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};
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#endif
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