Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

Global/PidWrapper/PidWrapper.cpp@4:9ffbf9101992, 2015-05-08 (annotated)

Committer:
joe4465
Date:
Fri May 08 09:07:38 2015 +0000
Revision:
4:9ffbf9101992
Parent:
2:969dfa4f2436 
End of FYP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 2:969dfa4f2436 1 #include "PidWrapper.h"
joe4465 2:969dfa4f2436 2
joe4465 2:969dfa4f2436 3 PidWrapper::PidWrapper(){}
joe4465 2:969dfa4f2436 4
joe4465 2:969dfa4f2436 5 PidWrapper::~PidWrapper(){}
joe4465 2:969dfa4f2436 6
joe4465 2:969dfa4f2436 7 bool PidWrapper::initialise(PidParameter pidParameter, double inputMin, double inputMax, double outputMin, double outputMax, float updateTime)
joe4465 2:969dfa4f2436 8 {
joe4465 2:969dfa4f2436 9 _pid = new PID(pidParameter.p, pidParameter.i, pidParameter.d, updateTime);
joe4465 2:969dfa4f2436 10 _pid->setInputLimits(inputMin, inputMax);
joe4465 2:969dfa4f2436 11 _pid->setOutputLimits(outputMin, outputMax);
joe4465 2:969dfa4f2436 12 _pid->setMode(AUTO_MODE);
joe4465 2:969dfa4f2436 13 _pid->setSetPoint(0.0);
joe4465 2:969dfa4f2436 14 _pid->setBias(0);
joe4465 2:969dfa4f2436 15
joe4465 2:969dfa4f2436 16 DEBUG("PID wrapper initialised\r\n");
joe4465 2:969dfa4f2436 17 return true;
joe4465 2:969dfa4f2436 18 }
joe4465 2:969dfa4f2436 19
joe4465 2:969dfa4f2436 20 double PidWrapper::compute(double setPoint, double processValue)
joe4465 2:969dfa4f2436 21 {
joe4465 2:969dfa4f2436 22 _pid->setSetPoint(setPoint);
joe4465 2:969dfa4f2436 23 _pid->setProcessValue(processValue);
joe4465 2:969dfa4f2436 24 return _pid->compute();
joe4465 2:969dfa4f2436 25 }
joe4465 2:969dfa4f2436 26
joe4465 2:969dfa4f2436 27 PidWrapper::PidParameter PidWrapper::getPidParameters()
joe4465 2:969dfa4f2436 28 {
joe4465 2:969dfa4f2436 29 PidWrapper::PidParameter pidParameters;
joe4465 2:969dfa4f2436 30 pidParameters.p = _pid->getPParam();
joe4465 2:969dfa4f2436 31 pidParameters.i = _pid->getIParam();
joe4465 2:969dfa4f2436 32 pidParameters.d = _pid->getDParam();
joe4465 2:969dfa4f2436 33
joe4465 2:969dfa4f2436 34 return pidParameters;
joe4465 2:969dfa4f2436 35 }
joe4465 2:969dfa4f2436 36
joe4465 2:969dfa4f2436 37 void PidWrapper::reset()
joe4465 2:969dfa4f2436 38 {
joe4465 2:969dfa4f2436 39 _pid->reset();
joe4465 2:969dfa4f2436 40 }
joe4465 2:969dfa4f2436 41
joe4465 2:969dfa4f2436 42 void PidWrapper::setPidParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 43 {
joe4465 2:969dfa4f2436 44 _pid->setTunings(pidParameters.p, pidParameters.i, pidParameters.d);
joe4465 2:969dfa4f2436 45 DEBUG("P %1.8f, I %1.8f, D %1.8f\r\n", pidParameters.p, pidParameters.i, pidParameters.d);
joe4465 2:969dfa4f2436 46 }
joe4465 2:969dfa4f2436 47
joe4465 2:969dfa4f2436 48 void PidWrapper::setBias(float bias)
joe4465 2:969dfa4f2436 49 {
joe4465 2:969dfa4f2436 50 _pid->setBias(bias);
joe4465 2:969dfa4f2436 51 }