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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/PID_controller.h
- Revision:
- 0:4cb1de41d049
- Child:
- 1:f1b8f0462e2a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/help_functions/PID_controller.h Mon Oct 22 12:57:34 2018 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+
+double Kp = 7.5;
+double Ki = 1.02;
+double Kd = 10;
+double samplingfreq = 1000;
+
+double PID_controller(double error)
+{
+ //Kp = potmeter2.read()*3;
+
+ double u_k = Kp * error;
+
+ static double error_integral = 0;
+ static double error_prev = error; // initialization with this value only done once!
+ static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
+
+ error_integral = error_integral + error * 1/samplingfreq;
+ double u_i = Ki * error_integral;
+
+ double error_derivative = (error - error_prev)*samplingfreq;
+ double filtered_error_derivative = LowPassFilter.step(error_derivative);
+ double u_d = Kd * filtered_error_derivative;
+ error_prev = error;
+ return u_k+u_i+u_d;
+}
\ No newline at end of file