NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated KANI2017v2

NHK2017Ateamかにろぼ

Dependencies:   2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni

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bot/PIDcontroller/PID_controller.cpp@23:98746361f827, 2017-09-05 (annotated)

Committer:
uchitake
Date:
Tue Sep 05 12:02:47 2017 +0900
Revision:
23:98746361f827
Parent:
22:bb6afe7332c3 
remove WheelUnit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 6:590c9622ecf1 1 #include "PID_controller.h"
UCHITAKE 6:590c9622ecf1 2
UCHITAKE 6:590c9622ecf1 3 void PIDC::updateOutput()
UCHITAKE 6:590c9622ecf1 4 {
UCHITAKE 6:590c9622ecf1 5 confirm();
UCHITAKE 6:590c9622ecf1 6 }
UCHITAKE 6:590c9622ecf1 7
uchitake 22:bb6afe7332c3 8 PIDC::PIDC() :
uchitake 22:bb6afe7332c3 9 PID(KC, TI, TD, INTERVAL),
uchitake 22:bb6afe7332c3 10 HMC6352(HMCsda, HMCscl),
uchitake 22:bb6afe7332c3 11 rawDegree(0),
uchitake 22:bb6afe7332c3 12 offSetDegree(0),
uchitake 22:bb6afe7332c3 13 turnOverNumber(0),
uchitake 22:bb6afe7332c3 14 beforeDegree(0),
uchitake 22:bb6afe7332c3 15 co(0),
uchitake 22:bb6afe7332c3 16 processValue(0),
uchitake 22:bb6afe7332c3 17 initDegree(0)
UCHITAKE 6:590c9622ecf1 18 {
uchitake 18:41f7dd1a5ed1 19 PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
uchitake 18:41f7dd1a5ed1 20 PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
uchitake 18:41f7dd1a5ed1 21 PID::setBias(BIAS);
uchitake 18:41f7dd1a5ed1 22 PID::setMode(AUTO_MODE);
uchitake 18:41f7dd1a5ed1 23 PID::setSetPoint(0.0);
UCHITAKE 6:590c9622ecf1 24
uchitake 18:41f7dd1a5ed1 25 HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
uchitake 18:41f7dd1a5ed1 26 rawDegree = HMC6352::sample();
uchitake 18:41f7dd1a5ed1 27 beforeDegree = HMC6352::sample();
uchitake 18:41f7dd1a5ed1 28 offSetDegree = HMC6352::sample();
UCHITAKE 6:590c9622ecf1 29 initDegree = 0;
UCHITAKE 6:590c9622ecf1 30 turnOverNumber = 0;
UCHITAKE 6:590c9622ecf1 31 // this -> attach(this, &PIDC::updateOutput, INTERVAL);
UCHITAKE 6:590c9622ecf1 32 }
UCHITAKE 6:590c9622ecf1 33
uchitake 18:41f7dd1a5ed1 34 PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) :
uchitake 22:bb6afe7332c3 35 PID(kc, ti, td, interval),
uchitake 22:bb6afe7332c3 36 HMC6352(sda, scl),
uchitake 22:bb6afe7332c3 37 rawDegree(0),
uchitake 22:bb6afe7332c3 38 offSetDegree(0),
uchitake 22:bb6afe7332c3 39 turnOverNumber(0),
uchitake 22:bb6afe7332c3 40 beforeDegree(0),
uchitake 22:bb6afe7332c3 41 co(0),
uchitake 22:bb6afe7332c3 42 processValue(0),
uchitake 22:bb6afe7332c3 43 initDegree(0)
UCHITAKE 19:3a62cbc6fee9 44 {
UCHITAKE 19:3a62cbc6fee9 45 PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
UCHITAKE 19:3a62cbc6fee9 46 PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
UCHITAKE 19:3a62cbc6fee9 47 PID::setBias(BIAS);
UCHITAKE 19:3a62cbc6fee9 48 PID::setMode(AUTO_MODE);
UCHITAKE 19:3a62cbc6fee9 49 PID::setSetPoint(0.0);
UCHITAKE 19:3a62cbc6fee9 50
UCHITAKE 19:3a62cbc6fee9 51 HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
UCHITAKE 19:3a62cbc6fee9 52 rawDegree = HMC6352::sample();
UCHITAKE 19:3a62cbc6fee9 53 beforeDegree = HMC6352::sample();
UCHITAKE 19:3a62cbc6fee9 54 offSetDegree = HMC6352::sample();
UCHITAKE 19:3a62cbc6fee9 55 initDegree = 0;
UCHITAKE 19:3a62cbc6fee9 56 turnOverNumber = 0;
UCHITAKE 19:3a62cbc6fee9 57 // this -> attach(this, &PIDC::updateOutput, INTERVAL);
UCHITAKE 19:3a62cbc6fee9 58 }
uchitake 18:41f7dd1a5ed1 59
uchitake 18:41f7dd1a5ed1 60
UCHITAKE 6:590c9622ecf1 61 void PIDC::confirm()
UCHITAKE 6:590c9622ecf1 62 {
uchitake 18:41f7dd1a5ed1 63 rawDegree = HMC6352::sample();
UCHITAKE 6:590c9622ecf1 64 if(rawDegree - beforeDegree < -1800) turnOverNumber++;
UCHITAKE 6:590c9622ecf1 65 if(rawDegree - beforeDegree > 1800) turnOverNumber--;
UCHITAKE 6:590c9622ecf1 66 initDegree = rawDegree - offSetDegree + turnOverNumber * 3600;
uchitake 18:41f7dd1a5ed1 67 beforeDegree = HMC6352::sample();
uchitake 18:41f7dd1a5ed1 68 PID::setProcessValue(initDegree / 10.0);
uchitake 18:41f7dd1a5ed1 69 co = PID::compute();
UCHITAKE 6:590c9622ecf1 70 }
UCHITAKE 6:590c9622ecf1 71
uchitake 22:bb6afe7332c3 72 float PIDC::getCo() const
UCHITAKE 6:590c9622ecf1 73 {
UCHITAKE 6:590c9622ecf1 74 return co;
uchitake 18:41f7dd1a5ed1 75 }
UCHITAKE 19:3a62cbc6fee9 76
UCHITAKE 19:3a62cbc6fee9 77
UCHITAKE 19:3a62cbc6fee9 78 void PIDC::calibration(int mode)
UCHITAKE 19:3a62cbc6fee9 79 {
UCHITAKE 19:3a62cbc6fee9 80 setCalibrationMode(mode);
UCHITAKE 19:3a62cbc6fee9 81 }