Mechatronics Robotics
/
BrobotV1
These are the core files for the Robot at Team conception.
PID_Control.h@17:ec52258b9472, 2017-06-07 (annotated)
- Committer:
- obrie829
- Date:
- Wed Jun 07 11:35:59 2017 +0000
- Revision:
- 17:ec52258b9472
- Parent:
- 0:eba74e7a229b
v18
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
obrie829 | 0:eba74e7a229b | 1 | /* |
obrie829 | 0:eba74e7a229b | 2 | * PIDControl.h |
obrie829 | 0:eba74e7a229b | 3 | * |
obrie829 | 0:eba74e7a229b | 4 | * Created on: 16.04.2017 |
obrie829 | 0:eba74e7a229b | 5 | * Author: chris |
obrie829 | 0:eba74e7a229b | 6 | */ |
obrie829 | 0:eba74e7a229b | 7 | |
obrie829 | 0:eba74e7a229b | 8 | #ifndef COMMON_PID_CONTROL_H_ |
obrie829 | 0:eba74e7a229b | 9 | #define COMMON_PID_CONTROL_H_ |
obrie829 | 0:eba74e7a229b | 10 | |
obrie829 | 0:eba74e7a229b | 11 | /** |
obrie829 | 0:eba74e7a229b | 12 | * This class calculates a PID control |
obrie829 | 0:eba74e7a229b | 13 | */ |
obrie829 | 0:eba74e7a229b | 14 | class PID_Control |
obrie829 | 0:eba74e7a229b | 15 | { |
obrie829 | 0:eba74e7a229b | 16 | public: |
obrie829 | 0:eba74e7a229b | 17 | PID_Control(); // constructor |
obrie829 | 0:eba74e7a229b | 18 | virtual ~PID_Control(); //destructor |
obrie829 | 0:eba74e7a229b | 19 | |
obrie829 | 0:eba74e7a229b | 20 | float calc(float e, float period); |
obrie829 | 0:eba74e7a229b | 21 | void setPIDValues(float p, float i, float d, float max, float min, float _iMax); |
obrie829 | 0:eba74e7a229b | 22 | |
obrie829 | 0:eba74e7a229b | 23 | private: |
obrie829 | 0:eba74e7a229b | 24 | /** |
obrie829 | 0:eba74e7a229b | 25 | * the proportional gain |
obrie829 | 0:eba74e7a229b | 26 | */ |
obrie829 | 0:eba74e7a229b | 27 | float kp; |
obrie829 | 0:eba74e7a229b | 28 | |
obrie829 | 0:eba74e7a229b | 29 | /** |
obrie829 | 0:eba74e7a229b | 30 | * integral gain |
obrie829 | 0:eba74e7a229b | 31 | */ |
obrie829 | 0:eba74e7a229b | 32 | float ki; |
obrie829 | 0:eba74e7a229b | 33 | |
obrie829 | 0:eba74e7a229b | 34 | /** |
obrie829 | 0:eba74e7a229b | 35 | * differential gain |
obrie829 | 0:eba74e7a229b | 36 | */ |
obrie829 | 0:eba74e7a229b | 37 | float kd; |
obrie829 | 0:eba74e7a229b | 38 | |
obrie829 | 0:eba74e7a229b | 39 | /** |
obrie829 | 0:eba74e7a229b | 40 | * Sum of all the errors |
obrie829 | 0:eba74e7a229b | 41 | */ |
obrie829 | 0:eba74e7a229b | 42 | float iSum; |
obrie829 | 0:eba74e7a229b | 43 | |
obrie829 | 0:eba74e7a229b | 44 | /** |
obrie829 | 0:eba74e7a229b | 45 | * Error value one iteration befor |
obrie829 | 0:eba74e7a229b | 46 | */ |
obrie829 | 0:eba74e7a229b | 47 | float eOld; |
obrie829 | 0:eba74e7a229b | 48 | |
obrie829 | 0:eba74e7a229b | 49 | float max; |
obrie829 | 0:eba74e7a229b | 50 | float min; |
obrie829 | 0:eba74e7a229b | 51 | float iMax; |
obrie829 | 17:ec52258b9472 | 52 | |
obrie829 | 0:eba74e7a229b | 53 | }; |
obrie829 | 0:eba74e7a229b | 54 | |
obrie829 | 0:eba74e7a229b | 55 | #endif /* COMMON_PID_CONTROL_H_ */ |