PID bijdrage
Dependencies: mbed
main.cpp
- Committer:
- s1574396
- Date:
- 2018-10-26
- Revision:
- 0:8c5ca301505f
File content as of revision 0:8c5ca301505f:
#include "mbed.h" const double Ts = // sample frequency //PID rotation - aanmaken van PID constanten en variabelen voor rotatie const double = Rot_Kp = , Rot_Ki = , Rot_Kd = ; double Rot_error = 0; double Rot_prev_error = 0; //PID translation - aanmaken van PID constanten en variabelen voor translatie const double = Trans_Kp = , Trans_Ki = , Trans_Kd = ; double Trans_error = 0; double Trans_prev_error = 0; // PID execution double PID_control(double error, const double kp, const double ki, const double kd, { // P control double u_k = pk * error; // I control error_int = error_int + (Ts * error); double u_i = ki * error_int; // D control double error_deriv = (error - error_prev); double u_d = kd * error_deriv; error_prev = error; return u_k + u_i + u_d; int main() { }