LabRobocon / Mbed 2 deprecated LabRobocon_2017

Added one task

Dependencies:   mbed

Robot/inc/pid.h@0:fb4269aa5fb4, 2017-05-26 (annotated)

Committer:
PicYusuke
Date:
Fri May 26 03:51:19 2017 +0000
Revision:
0:fb4269aa5fb4
hoge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PicYusuke 0:fb4269aa5fb4 1 /*
PicYusuke 0:fb4269aa5fb4 2 * File: pid.h
PicYusuke 0:fb4269aa5fb4 3 * Author: Owner
PicYusuke 0:fb4269aa5fb4 4 *
PicYusuke 0:fb4269aa5fb4 5 * Created on 2016/02/29, 1:12
PicYusuke 0:fb4269aa5fb4 6 */
PicYusuke 0:fb4269aa5fb4 7
PicYusuke 0:fb4269aa5fb4 8 #ifndef PID_H
PicYusuke 0:fb4269aa5fb4 9 #define PID_H
PicYusuke 0:fb4269aa5fb4 10
PicYusuke 0:fb4269aa5fb4 11 #include <stdint.h>
PicYusuke 0:fb4269aa5fb4 12
PicYusuke 0:fb4269aa5fb4 13 #define PID_CONTROL_ENABLE 1
PicYusuke 0:fb4269aa5fb4 14 #define PID_CONTROL_DISABLE 0
PicYusuke 0:fb4269aa5fb4 15
PicYusuke 0:fb4269aa5fb4 16 typedef struct{
PicYusuke 0:fb4269aa5fb4 17
PicYusuke 0:fb4269aa5fb4 18 float kp;
PicYusuke 0:fb4269aa5fb4 19 float kd;
PicYusuke 0:fb4269aa5fb4 20 float ki;
PicYusuke 0:fb4269aa5fb4 21 float diff[2];
PicYusuke 0:fb4269aa5fb4 22 float i_term;
PicYusuke 0:fb4269aa5fb4 23
PicYusuke 0:fb4269aa5fb4 24 uint32_t is_enabled;
PicYusuke 0:fb4269aa5fb4 25 uint32_t is_initialized;
PicYusuke 0:fb4269aa5fb4 26
PicYusuke 0:fb4269aa5fb4 27 } PID_Struct;
PicYusuke 0:fb4269aa5fb4 28
PicYusuke 0:fb4269aa5fb4 29 void PID_Struct_Init(PID_Struct *, float, float, float);
PicYusuke 0:fb4269aa5fb4 30 void PID_Enable_Control(PID_Struct *);
PicYusuke 0:fb4269aa5fb4 31 void PID_Disable_Control(PID_Struct *);
PicYusuke 0:fb4269aa5fb4 32 uint32_t PID_Check_Status(PID_Struct *);
PicYusuke 0:fb4269aa5fb4 33 float PID_Control(PID_Struct *, float, float);
PicYusuke 0:fb4269aa5fb4 34 float PD_Control(PID_Struct *, float, float);
PicYusuke 0:fb4269aa5fb4 35 float PI_Control(PID_Struct *, float, float);
PicYusuke 0:fb4269aa5fb4 36
PicYusuke 0:fb4269aa5fb4 37 #endif /* PID_H */
PicYusuke 0:fb4269aa5fb4 38