Revision 0:8c5ca301505f, committed 2018-10-26

Comitter:

s1574396

Date:

Fri Oct 26 09:42:50 2018 +0000

Commit message:

PID controler;

Changed in this revision

diff -r 000000000000 -r 8c5ca301505f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 26 09:42:50 2018 +0000
@@ -0,0 +1,34 @@
+#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()
+{
+
+}
\ No newline at end of file

diff -r 000000000000 -r 8c5ca301505f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Oct 26 09:42:50 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file