NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/PIDcontroller/PID_controller.h@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 6:590c9622ecf1 | 1 | /** |
UCHITAKE | 6:590c9622ecf1 | 2 | * @file PID_controller.h |
UCHITAKE | 6:590c9622ecf1 | 3 | * @brief コンパスセンサを使ったPIDコントローラ |
uchitake |
21:b2c1d73b0ee9 | 4 | * |
uchitake |
21:b2c1d73b0ee9 | 5 | * Example : |
uchitake |
21:b2c1d73b0ee9 | 6 | * @code |
uchitake |
21:b2c1d73b0ee9 | 7 | * #include "mbed.h" |
uchitake |
21:b2c1d73b0ee9 | 8 | * #include "PID_controller.h" |
uchitake |
21:b2c1d73b0ee9 | 9 | * |
uchitake |
21:b2c1d73b0ee9 | 10 | * PIDC pidc; |
uchitake |
21:b2c1d73b0ee9 | 11 | * |
uchitake |
21:b2c1d73b0ee9 | 12 | * int main() |
uchitake |
21:b2c1d73b0ee9 | 13 | * { |
uchitake |
21:b2c1d73b0ee9 | 14 | * while(1) { |
uchitake |
21:b2c1d73b0ee9 | 15 | * pidc.confirm(); |
uchitake |
21:b2c1d73b0ee9 | 16 | * pc.printf("Hi, %f\r\n", pid.getCo()); |
uchitake |
21:b2c1d73b0ee9 | 17 | * } |
uchitake |
21:b2c1d73b0ee9 | 18 | * } |
uchitake |
21:b2c1d73b0ee9 | 19 | * @endcode |
UCHITAKE | 6:590c9622ecf1 | 20 | */ |
UCHITAKE | 6:590c9622ecf1 | 21 | #ifndef PID_CONTROLLER_H |
UCHITAKE | 6:590c9622ecf1 | 22 | #define PID_CONTROLLER_H |
UCHITAKE | 6:590c9622ecf1 | 23 | |
UCHITAKE | 6:590c9622ecf1 | 24 | #include "mbed.h" |
UCHITAKE | 6:590c9622ecf1 | 25 | #include "pin_config.h" |
UCHITAKE | 6:590c9622ecf1 | 26 | |
UCHITAKE | 6:590c9622ecf1 | 27 | #include "PID.h" |
UCHITAKE | 6:590c9622ecf1 | 28 | #include "HMC6352.h" |
UCHITAKE | 6:590c9622ecf1 | 29 | |
uchitake |
22:bb6afe7332c3 | 30 | // const double M_PI = 3.141592653589793; |
uchitake |
22:bb6afe7332c3 | 31 | const double KC = 5.0; |
uchitake |
22:bb6afe7332c3 | 32 | const double TI = 0.0; |
uchitake |
22:bb6afe7332c3 | 33 | const double TD = 0.0; |
uchitake |
22:bb6afe7332c3 | 34 | const float INTERVAL = 0.05; |
uchitake |
22:bb6afe7332c3 | 35 | const float INPUT_LIMIT = 180.0; |
uchitake |
22:bb6afe7332c3 | 36 | const float OUTPUT_LIMIT = 0.4; |
uchitake |
22:bb6afe7332c3 | 37 | const float BIAS = 0.0; |
uchitake |
18:41f7dd1a5ed1 | 38 | |
UCHITAKE | 6:590c9622ecf1 | 39 | /** |
UCHITAKE | 6:590c9622ecf1 | 40 | * @brief コンパスセンサを使ったPIDコントローラ |
UCHITAKE | 6:590c9622ecf1 | 41 | */ |
UCHITAKE | 6:590c9622ecf1 | 42 | class PIDC : public PID, HMC6352, Ticker |
UCHITAKE | 6:590c9622ecf1 | 43 | { |
UCHITAKE | 6:590c9622ecf1 | 44 | public : |
UCHITAKE | 6:590c9622ecf1 | 45 | /** |
uchitake |
18:41f7dd1a5ed1 | 46 | * @brief defaultコンストラクタ,タイマ割り込みでの計算開始 |
UCHITAKE | 6:590c9622ecf1 | 47 | */ |
UCHITAKE | 6:590c9622ecf1 | 48 | PIDC(); |
uchitake |
18:41f7dd1a5ed1 | 49 | |
uchitake |
18:41f7dd1a5ed1 | 50 | /** |
uchitake |
18:41f7dd1a5ed1 | 51 | * @brief コンストラクタ |
uchitake |
18:41f7dd1a5ed1 | 52 | * @param sda sda HMC6352 |
uchitake |
18:41f7dd1a5ed1 | 53 | * @param scl scl HMC6352 |
uchitake |
18:41f7dd1a5ed1 | 54 | * @param kc KC |
uchitake |
18:41f7dd1a5ed1 | 55 | * @param ti TI |
uchitake |
18:41f7dd1a5ed1 | 56 | * @param td TD |
uchitake |
18:41f7dd1a5ed1 | 57 | * @param interval interval |
uchitake |
18:41f7dd1a5ed1 | 58 | */ |
uchitake |
18:41f7dd1a5ed1 | 59 | PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval); |
uchitake |
18:41f7dd1a5ed1 | 60 | |
UCHITAKE | 6:590c9622ecf1 | 61 | void confirm(); |
uchitake |
22:bb6afe7332c3 | 62 | float getCo() const; |
UCHITAKE | 19:3a62cbc6fee9 | 63 | void calibration(int mode); |
UCHITAKE | 6:590c9622ecf1 | 64 | private : |
uchitake |
18:41f7dd1a5ed1 | 65 | |
UCHITAKE | 6:590c9622ecf1 | 66 | void updateOutput(); |
uchitake |
18:41f7dd1a5ed1 | 67 | |
UCHITAKE | 6:590c9622ecf1 | 68 | int rawDegree; |
UCHITAKE | 6:590c9622ecf1 | 69 | int offSetDegree; |
UCHITAKE | 6:590c9622ecf1 | 70 | int turnOverNumber; |
UCHITAKE | 6:590c9622ecf1 | 71 | int beforeDegree; |
UCHITAKE | 6:590c9622ecf1 | 72 | |
UCHITAKE | 6:590c9622ecf1 | 73 | protected : |
UCHITAKE | 6:590c9622ecf1 | 74 | float co; |
UCHITAKE | 6:590c9622ecf1 | 75 | float processValue; |
UCHITAKE | 6:590c9622ecf1 | 76 | int initDegree; |
UCHITAKE | 6:590c9622ecf1 | 77 | }; |
UCHITAKE | 6:590c9622ecf1 | 78 | |
uchitake |
18:41f7dd1a5ed1 | 79 | #endif//PID_CONTROLLER_H |