EE192 Team 4 / Mbed 2 deprecated EE192_BetterPID

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID mbed

main.cpp

Committer:
openg
Date:
2016-03-16
Revision:
0:f641e7f8973f
Child:
1:f2a8a330983b

File content as of revision 0:f641e7f8973f:

#include "mbed.h"
#include "PID.h"

float Kp = 30.0;
float Ki = 0.0;
float Kd = 0.0;
float interval = 0.1; //in seconds

PID controller(Kp, Ki, Kd, interval);
float currentVelocity;
PwmOut co(p26);

Ticker executeController;

void control() {
    controller.setProcessValue(currentVelocity);
    outputPWM = controller.compute();
}

int main() {
    controller.setInputLimits(0.0, 6.0); //max input speeds in m/s
    controller.setOutputLimits(0.0, 1.0); //PWM outputs from 0% to 100%
    controller.setSetPoint(3.0); //reference velocity is 3.0 m/s
    controller.setBias(0.0); //no bias for controller to output
    controller.setMode(1); //AUTO mode
    executeController.attach(&control, interval);
        
}