Diff: PID.h

Revision:

9:e7c306f7e579

Parent:

8:4553677e8b99

Child:

10:a852385c6a34

--- a/PID.h	Tue Jun 05 13:33:28 2018 +0000
+++ b/PID.h	Mon Oct 14 15:19:54 2019 +0000
@@ -59,6 +59,10 @@
  *       -  Adding a bit of Ki will allow your system to bring to 0 the static error (ie : will make the error, between the set point and your mesurment, tend to 0) but might create instability and increase setting time.
  *       -  Adding a bit of Kd will stabilize the response (with almost no bad effect, as long as Kd remains small).
  * @note More info can be found here : https://en.wikipedia.org/wiki/PID_controller
+ *
+ * @note The odometric position is computed by the trapezoidal integration method (approximation of a part of a circle by a trapezoid) after each program loop. Hence, odometric error increase with time.
+ *
+ * @note The odometric X coordinate is the direction in front of the robot at startup. Y coordinate is the orthogonal vector in trigonometric direction (counterclockwise) refered to X, and THETA is the angle of the robot refered to X at startup 
  */
 class PID
 {
@@ -140,36 +144,77 @@
     void getSpeed (double *vG, double *vD);
 
     /**
-     * Global Variable of corrective values
+     * Global Variable of corrective proportionnal value
+     * @note  works well with Kp = 2.0, Ki = 0.4 and Kd = 1
+     */
+    double                  _Kp;
+    /**
+     * Global Variable of corrective integral value
+     * @note  works well with Kp = 2.0, Ki = 0.4 and Kd = 1
+     */
+    double                  _Ki;
+    /**
+     * Global Variable of corrective derivative value
      * @note  works well with Kp = 2.0, Ki = 0.4 and Kd = 1
      */
-    double                  _Kp, _Ki, _Kd;
+    double                  _Kd;
     /**
-     * Global Variable of speed
+     * Global Variable of Left speed
      */
-    double                  _SpeedG, _SpeedD;
+    double                  _SpeedG,
     /**
-     * Global Variable of measured speed
+     * Global Variable of Right speed
+     */
+    double                  _SpeedD,
+    /**
+     * Global Variable of measured left speed
      */
-    double                  _measSpeedG, _measSpeedD;
+    double                  _measSpeedG;
+     /**
+     * Global Variable of measured right speed
+     */
+    double                  _measSpeedD;
     /**
-     * Global Variable of measured displacement
+     * Global Variable of measured Left wheel displacement
      */
-    double                  _measDistG, _measDistD;
+    double                  _measDistG;
     /**
-     * Global Variable to indicate that required wheel speed is unreachable (set if speed is unreachable)
+     * Global Variable of measured Right wheel displacement
+     */
+    double                  _measDistD;
+    /**
+     * Global Variable to indicate that required Left wheel speed is unreachable (set if speed is unreachable)
      * @note    Must be cleared by user
      */
-    int                     _WheelStuckG, _WheelStuckD;
+    int                     _WheelStuckG;
     /**
-     * Global Variable of wheel PWM value
+     * Global Variable to indicate that required Right wheel speed is unreachable (set if speed is unreachable)
+     * @note    Must be cleared by user
+     */
+    int                     _WheelStuckD;
+    /**
+     * Global Variable of Left wheel PWM value
+     */
+    double                  _PwmValueG;
+    /**
+     * Global Variable of Right wheel PWM value
      */
-    double                  _PwmValueG, _PwmValueD;
+    double                  _PwmValueD;
+    /**
+     * Global Variable of odometric measurement of X position of gravity center of robot.
+     * @note    odometric error increase with time
+     */
+    double                  _X;
     /**
-     * Global Variable of gravity center of robot position (odometric, error increase with time)
+     * Global Variable of odometric measurement of Y position of gravity center of robot.
+     * @note    odometric error increase with time
      */
-    double                  _X, _Y, _THETA;
-
+    double                  _Y;
+    /**
+     * Global Variable of odometric measurement of THETA angle of gravity center of robot.
+     * @note    odometric error increase with time
+     */
+    double                  _THETA;
     /**
      * Global Variable to indicate that required speed is unreachable (=1 if speed is unreachable)
      * @note    Must be cleared by user