NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/PIDcontroller/PID_controller.cpp
- Committer:
- UCHITAKE
- Date:
- 2017-09-04
- Revision:
- 19:3a62cbc6fee9
- Parent:
- 18:41f7dd1a5ed1
- Child:
- 22:bb6afe7332c3
File content as of revision 19:3a62cbc6fee9:
#include "PID_controller.h" void PIDC::updateOutput() { confirm(); } PIDC::PIDC() : PID(KC, TI, TD, INTERVAL), HMC6352(HMCsda, HMCscl) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); PID::setBias(BIAS); PID::setMode(AUTO_MODE); PID::setSetPoint(0.0); HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); rawDegree = HMC6352::sample(); beforeDegree = HMC6352::sample(); offSetDegree = HMC6352::sample(); initDegree = 0; turnOverNumber = 0; // this -> attach(this, &PIDC::updateOutput, INTERVAL); } PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) : PID(kc, ti, td, interval), HMC6352(sda, scl) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); PID::setBias(BIAS); PID::setMode(AUTO_MODE); PID::setSetPoint(0.0); HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); rawDegree = HMC6352::sample(); beforeDegree = HMC6352::sample(); offSetDegree = HMC6352::sample(); initDegree = 0; turnOverNumber = 0; // this -> attach(this, &PIDC::updateOutput, INTERVAL); } void PIDC::confirm() { rawDegree = HMC6352::sample(); if(rawDegree - beforeDegree < -1800) turnOverNumber++; if(rawDegree - beforeDegree > 1800) turnOverNumber--; initDegree = rawDegree - offSetDegree + turnOverNumber * 3600; beforeDegree = HMC6352::sample(); PID::setProcessValue(initDegree / 10.0); co = PID::compute(); } float PIDC::getCo() { return co; } void PIDC::calibration(int mode) { setCalibrationMode(mode); }