2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

PIDco.hpp@5:e189d55ef292, 2022-01-28 (annotated)

Committer:
kazumayamanaka
Date:
Fri Jan 28 15:12:04 2022 +0000
Revision:
5:e189d55ef292
Parent:
0:a1238c4cd105 
program  of wheel;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 0:a1238c4cd105 1 #ifndef PID_CO_H
kazumayamanaka 0:a1238c4cd105 2 #define PID_CO_H
kazumayamanaka 0:a1238c4cd105 3 #include "mbed.h"
kazumayamanaka 0:a1238c4cd105 4
kazumayamanaka 0:a1238c4cd105 5 #define Kp 0.0001
kazumayamanaka 0:a1238c4cd105 6 #define Ki 0.0000014
kazumayamanaka 0:a1238c4cd105 7 #define Kd 0.0000001
kazumayamanaka 0:a1238c4cd105 8 #define co (108 * 3.1415926535897) / 500
kazumayamanaka 0:a1238c4cd105 9
kazumayamanaka 0:a1238c4cd105 10
kazumayamanaka 0:a1238c4cd105 11 class PIDco{
kazumayamanaka 0:a1238c4cd105 12
kazumayamanaka 0:a1238c4cd105 13 public://use in main.cpp
kazumayamanaka 0:a1238c4cd105 14 PIDco();
kazumayamanaka 0:a1238c4cd105 15 double obt_spd();
kazumayamanaka 0:a1238c4cd105 16 void pass_val(double PULSE,double TARGET);
kazumayamanaka 0:a1238c4cd105 17 void wheel_ctl(PinName PIN_A,PinName PIN_B);
kazumayamanaka 0:a1238c4cd105 18
kazumayamanaka 0:a1238c4cd105 19 private:
kazumayamanaka 0:a1238c4cd105 20 void cal_spd();
kazumayamanaka 0:a1238c4cd105 21 void cal_Error();
kazumayamanaka 0:a1238c4cd105 22 void renew_Error();
kazumayamanaka 0:a1238c4cd105 23 void cal_Pval();
kazumayamanaka 0:a1238c4cd105 24 void cal_Ival();
kazumayamanaka 0:a1238c4cd105 25 void cal_Dval();
kazumayamanaka 0:a1238c4cd105 26 void cal_pwm();
kazumayamanaka 0:a1238c4cd105 27
kazumayamanaka 0:a1238c4cd105 28 double spd;
kazumayamanaka 0:a1238c4cd105 29 double Target,Error_a,Error_b;
kazumayamanaka 0:a1238c4cd105 30 double Pval,Ival,Dval,Pwm;
kazumayamanaka 0:a1238c4cd105 31 double Integral,dt;
kazumayamanaka 0:a1238c4cd105 32 double diff,pulse_a,pulse_b;
kazumayamanaka 0:a1238c4cd105 33 double v1p_set,v1m_set;
kazumayamanaka 0:a1238c4cd105 34 };
kazumayamanaka 0:a1238c4cd105 35
kazumayamanaka 0:a1238c4cd105 36 #endif
kazumayamanaka 0:a1238c4cd105 37
kazumayamanaka 0:a1238c4cd105 38
kazumayamanaka 0:a1238c4cd105 39
kazumayamanaka 0:a1238c4cd105 40
kazumayamanaka 0:a1238c4cd105 41
kazumayamanaka 0:a1238c4cd105 42