// PID.h : main header file for the PID application
//

#if !defined(AFX_PID_H__A2CDB7C5_C32B_4179_A93F_637B0385BA84__INCLUDED_)
#define AFX_PID_H__A2CDB7C5_C32B_4179_A93F_637B0385BA84__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#ifndef __AFXWIN_H__
	#error include 'stdafx.h' before including this file for PCH
#endif

#include "resource.h"		// main symbols

/////////////////////////////////////////////////////////////////////////////
// CPIDApp:
// See PID.cpp for the implementation of this class
//
class CPIDApp : public CWinApp
{
public:
	CPIDApp();

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CPIDApp)
	public:
	virtual BOOL InitInstance();
	//}}AFX_VIRTUAL

// Implementation

	//{{AFX_MSG(CPIDApp)
		// NOTE - the ClassWizard will add and remove member functions here.
		//    DO NOT EDIT what you see in these blocks of generated code !
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};


/////////////////////////////////////////////////////////////////////////////

class PID  
{
public:
	void NormalPID(float f_Pv,float &f_Mv);
	void PidInit();
	PID();
	virtual ~PID();
public:
	float f_Sv;
	int n_Control;		//正反選擇控制
	float f_Kp;
	float f_Ti;
	float f_Td;
	float f_Ts;
private:
	float e0;
	float e1;
	float e2;
	float uk;
	float ControlMode(float f_Pv);
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_PID_H__A2CDB7C5_C32B_4179_A93F_637B0385BA84__INCLUDED_)