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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of AutoFlight2017_now2 by
pid/pid.cpp@0:92024886c0be, 2017-08-01 (annotated)
- Committer:
- TUATBM
- Date:
- Tue Aug 01 12:27:13 2017 +0000
- Revision:
- 0:92024886c0be
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TUATBM | 0:92024886c0be | 1 | #include "mbed.h" |
TUATBM | 0:92024886c0be | 2 | #include "pid.h" |
TUATBM | 0:92024886c0be | 3 | |
TUATBM | 0:92024886c0be | 4 | |
TUATBM | 0:92024886c0be | 5 | PID::PID(void){ |
TUATBM | 0:92024886c0be | 6 | initialize(); |
TUATBM | 0:92024886c0be | 7 | } |
TUATBM | 0:92024886c0be | 8 | |
TUATBM | 0:92024886c0be | 9 | PID::PID(double Pgain, double Igain, double Dgain){ |
TUATBM | 0:92024886c0be | 10 | initialize(); |
TUATBM | 0:92024886c0be | 11 | setPIDgain(Pgain,Igain,Dgain); |
TUATBM | 0:92024886c0be | 12 | } |
TUATBM | 0:92024886c0be | 13 | |
TUATBM | 0:92024886c0be | 14 | PID::PID(double Pgain, double Igain, double Dgain, double Max, double Min){ |
TUATBM | 0:92024886c0be | 15 | initialize(); |
TUATBM | 0:92024886c0be | 16 | setPIDgain(Pgain,Igain,Dgain); |
TUATBM | 0:92024886c0be | 17 | setMaxMin(Max,Min); |
TUATBM | 0:92024886c0be | 18 | } |
TUATBM | 0:92024886c0be | 19 | |
TUATBM | 0:92024886c0be | 20 | PID::~PID(){ |
TUATBM | 0:92024886c0be | 21 | |
TUATBM | 0:92024886c0be | 22 | } |
TUATBM | 0:92024886c0be | 23 | |
TUATBM | 0:92024886c0be | 24 | void PID::initialize(void){ |
TUATBM | 0:92024886c0be | 25 | kp = 0.0; ki = 0.0; kd = 0.0; |
TUATBM | 0:92024886c0be | 26 | max = 0.0; min = 0.0; |
TUATBM | 0:92024886c0be | 27 | dt = 0.0; |
TUATBM | 0:92024886c0be | 28 | integral = 0.0; |
TUATBM | 0:92024886c0be | 29 | for(uint8_t i=0; i<2; i++){ |
TUATBM | 0:92024886c0be | 30 | oldval[i] = 0.0; |
TUATBM | 0:92024886c0be | 31 | diff[i] = 0.0; |
TUATBM | 0:92024886c0be | 32 | } |
TUATBM | 0:92024886c0be | 33 | maxcheck = false; |
TUATBM | 0:92024886c0be | 34 | mincheck = false; |
TUATBM | 0:92024886c0be | 35 | } |
TUATBM | 0:92024886c0be | 36 | |
TUATBM | 0:92024886c0be | 37 | void PID::setPIDgain(double Pgain, double Igain, double Dgain){ |
TUATBM | 0:92024886c0be | 38 | kp = Pgain; |
TUATBM | 0:92024886c0be | 39 | ki = Igain; |
TUATBM | 0:92024886c0be | 40 | kd = Dgain; |
TUATBM | 0:92024886c0be | 41 | } |
TUATBM | 0:92024886c0be | 42 | |
TUATBM | 0:92024886c0be | 43 | void PID::setMaxMin(double Max, double Min){ |
TUATBM | 0:92024886c0be | 44 | if(Max < Min) return; //最大値<最小値であれば設定せずに終了 |
TUATBM | 0:92024886c0be | 45 | max = Max; |
TUATBM | 0:92024886c0be | 46 | min = Min; |
TUATBM | 0:92024886c0be | 47 | maxcheck = true; mincheck = true; |
TUATBM | 0:92024886c0be | 48 | } |
TUATBM | 0:92024886c0be | 49 | |
TUATBM | 0:92024886c0be | 50 | void PID::switchMaxMin(bool Maxcheck, bool Mincheck){ |
TUATBM | 0:92024886c0be | 51 | maxcheck = Maxcheck; |
TUATBM | 0:92024886c0be | 52 | mincheck = Mincheck; |
TUATBM | 0:92024886c0be | 53 | } |
TUATBM | 0:92024886c0be | 54 | |
TUATBM | 0:92024886c0be | 55 | double PID::calcPID(double nowval, double targetval, double dt){ |
TUATBM | 0:92024886c0be | 56 | double p,i,d,pid; |
TUATBM | 0:92024886c0be | 57 | |
TUATBM | 0:92024886c0be | 58 | diff[1] = diff[0]; |
TUATBM | 0:92024886c0be | 59 | diff[0] = nowval - targetval; |
TUATBM | 0:92024886c0be | 60 | if(diff[1] == 0.0) return 0.0; //前回の値がない場合,0.0を返す |
TUATBM | 0:92024886c0be | 61 | |
TUATBM | 0:92024886c0be | 62 | integral += (diff[0] + diff[1]) / 2.0 * dt; |
TUATBM | 0:92024886c0be | 63 | |
TUATBM | 0:92024886c0be | 64 | p = kp * diff[0]; |
TUATBM | 0:92024886c0be | 65 | i = ki * integral; |
TUATBM | 0:92024886c0be | 66 | d = kd * (diff[0] - diff[1]) / dt; |
TUATBM | 0:92024886c0be | 67 | pid = p + i + d; |
TUATBM | 0:92024886c0be | 68 | if(maxcheck && pid>max) pid = max; |
TUATBM | 0:92024886c0be | 69 | if(mincheck && pid<min) pid = min; |
TUATBM | 0:92024886c0be | 70 | |
TUATBM | 0:92024886c0be | 71 | return pid; |
TUATBM | 0:92024886c0be | 72 | |
TUATBM | 0:92024886c0be | 73 | } |