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@14:e5fc69651b1d, 2018-11-05 (annotated)

Committer:
MAHCSnijders
Date:
Mon Nov 05 16:03:11 2018 +0000
Revision:
14:e5fc69651b1d
Parent:
4:5353c5d0d2ed 
Fixed constant r

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brass_phoenix 0:009e84d7af32 1 #pragma once
brass_phoenix 0:009e84d7af32 2
brass_phoenix 0:009e84d7af32 3 class PID {
brass_phoenix 0:009e84d7af32 4 private:
brass_phoenix 0:009e84d7af32 5 double Kp, Ki, Kd;
brass_phoenix 0:009e84d7af32 6 double error_integral;
brass_phoenix 0:009e84d7af32 7 double error_previous;
brass_phoenix 0:009e84d7af32 8 double pid_period; // Time between pid updates.
brass_phoenix 0:009e84d7af32 9 bool first_update;
brass_phoenix 0:009e84d7af32 10
brass_phoenix 3:f1067b5bb5af 11 // ---- Low Pass Filter variables ----
brass_phoenix 3:f1067b5bb5af 12 double B[3];
brass_phoenix 3:f1067b5bb5af 13 double A[2];
brass_phoenix 3:f1067b5bb5af 14 double wz[2];
brass_phoenix 0:009e84d7af32 15 public:
brass_phoenix 0:009e84d7af32 16 PID();
brass_phoenix 0:009e84d7af32 17 void set_period(double period);
brass_phoenix 0:009e84d7af32 18 void set_k_values(double Kp, double Ki, double Kd);
brass_phoenix 4:5353c5d0d2ed 19 // Sets the error memory to 0.
brass_phoenix 4:5353c5d0d2ed 20 // Leaves the K values intact.
brass_phoenix 4:5353c5d0d2ed 21 void clear_state();
brass_phoenix 0:009e84d7af32 22
brass_phoenix 0:009e84d7af32 23 double update(double error);
brass_phoenix 4:5353c5d0d2ed 24
brass_phoenix 4:5353c5d0d2ed 25 private:
brass_phoenix 3:f1067b5bb5af 26 double biquad_step(double x);
brass_phoenix 0:009e84d7af32 27 };