Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

pid.h

Committer:
brass_phoenix
Date:
2018-10-31
Revision:
4:5353c5d0d2ed
Parent:
3:f1067b5bb5af

File content as of revision 4:5353c5d0d2ed:

#pragma once

class PID {
private:
    double Kp, Ki, Kd;
    double error_integral;
    double error_previous;
    double pid_period; // Time between pid updates.
    bool first_update;
    
    // ---- Low Pass Filter variables ----
    double B[3];
    double A[2];
    double wz[2];
public:
    PID();
    void set_period(double period);
    void set_k_values(double Kp, double Ki, double Kd);
    // Sets the error memory to 0.
    // Leaves the K values intact.
    void clear_state();
    
    double update(double error);

private:
    double biquad_step(double x);
};