Roger Weng
PID
Fork of
PID
by 
LDSC_Robotics_TAs
PID.h@3:dccd51230bf5, 2018-04-12 (annotated)
- Committer:
- roger5641
- Date:
- Thu Apr 12 11:38:23 2018 +0000
- Revision:
- 3:dccd51230bf5
- Parent:
- 2:f8864ce26cd8
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| weisnail | 0:7f9b4ca968ae | 1 | #ifndef PID_H |
| weisnail | 0:7f9b4ca968ae | 2 | #define PID_H |
| weisnail | 0:7f9b4ca968ae | 3 | |
| weisnail | 0:7f9b4ca968ae | 4 | #include "mbed.h" |
| weisnail | 0:7f9b4ca968ae | 5 | |
| weisnail | 0:7f9b4ca968ae | 6 | class PID{ |
| weisnail | 0:7f9b4ca968ae | 7 | public: |
| weisnail | 0:7f9b4ca968ae | 8 | |
| weisnail | 0:7f9b4ca968ae | 9 | PID(float setKp, float setKi, float setKd, float setSampletime); |
| weisnail | 0:7f9b4ca968ae | 10 | void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L); |
| weisnail | 0:7f9b4ca968ae | 11 | void SetInputLimits(float setinputLimits_H, float setinputLimits_L); |
| adam_z | 1:4df4895863cd | 12 | void Compute(float setreference, float setfeedbackvalue); |
| roger5641 | 2:f8864ce26cd8 | 13 | void EnableAntiWindUp(float Ka_); |
| weisnail | 0:7f9b4ca968ae | 14 | |
| weisnail | 0:7f9b4ca968ae | 15 | float Kp; |
| weisnail | 0:7f9b4ca968ae | 16 | float Ki; |
| weisnail | 0:7f9b4ca968ae | 17 | float Kd; |
| adam_z | 1:4df4895863cd | 18 | float Ka; |
| weisnail | 0:7f9b4ca968ae | 19 | |
| weisnail | 0:7f9b4ca968ae | 20 | float error[3]; |
| weisnail | 0:7f9b4ca968ae | 21 | float output; |
| roger5641 | 2:f8864ce26cd8 | 22 | // float pidOutput; |
| weisnail | 0:7f9b4ca968ae | 23 | float reference; |
| weisnail | 0:7f9b4ca968ae | 24 | |
| weisnail | 0:7f9b4ca968ae | 25 | |
| weisnail | 0:7f9b4ca968ae | 26 | |
| weisnail | 0:7f9b4ca968ae | 27 | |
| weisnail | 0:7f9b4ca968ae | 28 | float sampletime; |
| weisnail | 0:7f9b4ca968ae | 29 | |
| weisnail | 0:7f9b4ca968ae | 30 | |
| weisnail | 0:7f9b4ca968ae | 31 | |
| weisnail | 0:7f9b4ca968ae | 32 | private: |
| weisnail | 0:7f9b4ca968ae | 33 | |
| weisnail | 0:7f9b4ca968ae | 34 | bool Outputlimit_bool; |
| weisnail | 0:7f9b4ca968ae | 35 | bool Inputlimit_bool; |
| adam_z | 1:4df4895863cd | 36 | bool AntiWindUp_bool; |
| weisnail | 0:7f9b4ca968ae | 37 | |
| weisnail | 0:7f9b4ca968ae | 38 | float outputLimits_H; |
| weisnail | 0:7f9b4ca968ae | 39 | float outputLimits_L; |
| weisnail | 0:7f9b4ca968ae | 40 | float inputLimits_H; |
| weisnail | 0:7f9b4ca968ae | 41 | float inputLimits_L; |
| weisnail | 0:7f9b4ca968ae | 42 | |
| weisnail | 0:7f9b4ca968ae | 43 | float feedbackvalue; |
| weisnail | 0:7f9b4ca968ae | 44 | // Ticker PID_timer; |
| weisnail | 0:7f9b4ca968ae | 45 | |
| weisnail | 0:7f9b4ca968ae | 46 | }; |
| weisnail | 0:7f9b4ca968ae | 47 | |
| weisnail | 0:7f9b4ca968ae | 48 | #endif /* PID_H*/ |