Pid.h

[詳解]

#ifndef __PID__
#define __PID__

class Pid{
public:
  Pid(double p_gain,double i_gain,double d_gain,double target);

  void setPid(double _p_gain,double _i_gain,double _d_gain,double _target);
  void wrapper_of_constructor(double _p_gain,double _i_gain,double _d_gain,
    double _diff, double _integral,
    double _target,double _output);
protected:
  void calculate(double light_value);  

  double get_output();

  double limitOutput(double pid_value);

private:
  double p_gain;
  double i_gain;
  double d_gain;
  double old_diff;
  double integral;
  double target;
  double output;
  double del;
};

#endif