30 lines
614 B
C++
30 lines
614 B
C++
#ifndef __PID_CONTROLLER_H__
|
||
#define __PID_CONTROLLER_H__
|
||
|
||
|
||
class PidController
|
||
{
|
||
public:
|
||
PidController() = default;
|
||
PidController(float kp, float ki, float kd, float dt);
|
||
|
||
private:
|
||
float target_;
|
||
float kp_;
|
||
float ki_;
|
||
float kd_;
|
||
// pid
|
||
float error_;
|
||
float error_sum_;
|
||
float derror_;
|
||
float prev_error_;
|
||
float intergral_up_ = 2500; // 积分上限
|
||
|
||
public:
|
||
float update(float current); // 提供当前值，返回下次输出值，也就是PID的结果
|
||
|
||
|
||
}
|
||
|
||
|
||
#endif // __PID_CONTROLLER_H__
|