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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/PID_controller.h
- Branch:
- bla
- Revision:
- 17:1f93c83e211f
- Parent:
- 10:7339dca7d604
- Child:
- 21:1321ff770f99
- Child:
- 22:31065a83d9e8
--- a/help_functions/PID_controller.h Thu Oct 25 17:50:26 2018 +0000
+++ b/help_functions/PID_controller.h Thu Oct 25 22:01:12 2018 +0000
@@ -3,9 +3,8 @@
double Kp = 7.5;
double Ki = 1.02;
double Kd = 10;
-double samplingfreq = 1000;
-void PID_controller(double error1, double error2, double &u1, double &u2)
+void PID_controller(double error1, double error2, double &u1, double &u2, const double &T)
{
double u_k = Kp * error1;
@@ -13,10 +12,10 @@
static double error_prev = error1; // initialization with this value only done once!
static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
- error_integral = error_integral + error1 * 1/samplingfreq;
+ error_integral = error_integral + error1 * T;
double u_i = Ki * error_integral;
- double error_derivative = (error1 - error_prev)*samplingfreq;
+ double error_derivative = (error1 - error_prev) / T;
double filtered_error_derivative = LowPassFilter.step(error_derivative);
double u_d = Kd * filtered_error_derivative;
error_prev = error1;