PIDcontroller.hh

[詳解]

 
//
// Copyright (C) 2011-2019 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef PIDCTRLLER
#define PIDCTRLLER
 
namespace ARCS {    // ARCS名前空間
    class PIDcontroller {
        public:
            PIDcontroller(double Pgain, double Igain, double Dgain, double Bandwidth, double SmplTime); 
            PIDcontroller(PIDcontroller&& r);   
            ~PIDcontroller();                   
            double GetSignal(double u);         
            void SetPgain(double Pgain);        
            void SetIgain(double Igain);        
            void SetDgain(double Dgain);        
            void SetBandwidth(double Bandwidth);
            void SetSmplTime(double SmplTime);  
            void ClearStateVars(void);          
            
        private:
            PIDcontroller(const PIDcontroller&) = delete;                   
            const PIDcontroller& operator=(const PIDcontroller&) = delete;  
            double Ts;  
            double Kp;  
            double Ki;  
            double Kd;  
            double gpd; 
            double uZ1; 
            double uZ2; 
            double yZ1; 
            double yZ2; 
    };
}
 
#endif