NagaokaRoboticsClub_mbedTeam / Mbed OS KANIv3

kani

Dependencies:   2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC

classDiagram

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bot/PIDcontroller/PID_controller.cpp@32:b619c7787dc3, 2017-10-06 (annotated)

Committer:
takeuchi
Date:
Fri Oct 06 20:12:29 2017 +0900
Branch:
develop
Revision:
32:b619c7787dc3
Parent:
17:79fa65706f92
Child:
47:43f55ff8916b
pass compile :)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 #include "PID_controller.h"
uchitake 1:845af5425eec 2
uchitake 1:845af5425eec 3 void PIDC::updateOutput()
uchitake 1:845af5425eec 4 {
uchitake 1:845af5425eec 5 confirm();
uchitake 1:845af5425eec 6 }
uchitake 1:845af5425eec 7
uchitake 1:845af5425eec 8 PIDC::PIDC() :
uchitake 1:845af5425eec 9 PID(KC, TI, TD, INTERVAL),
uchitake 1:845af5425eec 10 HMC6352(HMCsda, HMCscl),
takeuchi 32:b619c7787dc3 11 offSetDegree(0),
uchitake 1:845af5425eec 12 turnOverNumber(0),
uchitake 1:845af5425eec 13 beforeDegree(0),
uchitake 6:fe9767a50891 14 rawDegree(0),
uchitake 6:fe9767a50891 15 calculationResult(0),
takeuchi 32:b619c7787dc3 16 currentDegree(0)
uchitake 1:845af5425eec 17 {
uchitake 1:845af5425eec 18 PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
uchitake 1:845af5425eec 19 PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
uchitake 1:845af5425eec 20 PID::setBias(BIAS);
uchitake 1:845af5425eec 21 PID::setMode(AUTO_MODE);
uchitake 1:845af5425eec 22 PID::setSetPoint(0.0);
uchitake 1:845af5425eec 23
uchitake 5:16ea97725085 24 wait(0.1);
uchitake 1:845af5425eec 25 HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
uchitake 5:16ea97725085 26 wait(0.1);
uchitake 1:845af5425eec 27 rawDegree = HMC6352::sample();
uchitake 5:16ea97725085 28 beforeDegree = rawDegree;
takeuchi 32:b619c7787dc3 29 offSetDegree = rawDegree;
uchitake 1:845af5425eec 30 }
uchitake 1:845af5425eec 31
uchitake 1:845af5425eec 32 PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) :
uchitake 1:845af5425eec 33 PID(kc, ti, td, interval),
uchitake 1:845af5425eec 34 HMC6352(sda, scl),
takeuchi 32:b619c7787dc3 35 offSetDegree(0),
uchitake 1:845af5425eec 36 turnOverNumber(0),
uchitake 1:845af5425eec 37 beforeDegree(0),
uchitake 6:fe9767a50891 38 rawDegree(0),
uchitake 6:fe9767a50891 39 calculationResult(0),
takeuchi 32:b619c7787dc3 40 currentDegree(0)
uchitake 1:845af5425eec 41 {
uchitake 1:845af5425eec 42 PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
uchitake 1:845af5425eec 43 PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
uchitake 1:845af5425eec 44 PID::setBias(BIAS);
uchitake 1:845af5425eec 45 PID::setMode(AUTO_MODE);
uchitake 1:845af5425eec 46 PID::setSetPoint(0.0);
uchitake 1:845af5425eec 47
uchitake 5:16ea97725085 48 wait(0.1);
uchitake 1:845af5425eec 49 HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
uchitake 5:16ea97725085 50 wait(0.1);
uchitake 1:845af5425eec 51 rawDegree = HMC6352::sample();
uchitake 5:16ea97725085 52 beforeDegree = rawDegree;
takeuchi 32:b619c7787dc3 53 offSetDegree = rawDegree;
uchitake 1:845af5425eec 54 }
uchitake 1:845af5425eec 55
uchitake 1:845af5425eec 56
uchitake 1:845af5425eec 57 void PIDC::confirm()
uchitake 1:845af5425eec 58 {
uchitake 1:845af5425eec 59 rawDegree = HMC6352::sample();
uchitake 6:fe9767a50891 60 if(rawDegree - beforeDegree < -SENSED_THRESHOLD) ++turnOverNumber;
uchitake 6:fe9767a50891 61 if(rawDegree - beforeDegree > SENSED_THRESHOLD) --turnOverNumber;
takeuchi 32:b619c7787dc3 62 currentDegree = rawDegree - offSetDegree + turnOverNumber * 3600;
uchitake 1:845af5425eec 63 beforeDegree = HMC6352::sample();
takeuchi 32:b619c7787dc3 64 PID::setProcessValue(currentDegree / 10.0);
uchitake 6:fe9767a50891 65 calculationResult = PID::compute();
uchitake 1:845af5425eec 66 }
uchitake 1:845af5425eec 67
uchitake 6:fe9767a50891 68 float PIDC::getCalculationResult() const
uchitake 1:845af5425eec 69 {
uchitake 6:fe9767a50891 70 return calculationResult;
uchitake 1:845af5425eec 71 }
uchitake 1:845af5425eec 72
uchitake 6:fe9767a50891 73 int PIDC::getCurrentDegree() const
uchitake 3:369d9ee17e84 74 {
takeuchi 32:b619c7787dc3 75 return currentDegree;
uchitake 3:369d9ee17e84 76 }
uchitake 3:369d9ee17e84 77
uchitake 17:79fa65706f92 78 int PIDC::getRawDegree()
uchitake 17:79fa65706f92 79 {
uchitake 17:79fa65706f92 80 return HMC6352::sample();
uchitake 17:79fa65706f92 81 }
uchitake 17:79fa65706f92 82
takeuchi 32:b619c7787dc3 83 void PIDC::setPoint(float point)
takeuchi 32:b619c7787dc3 84 {
takeuchi 32:b619c7787dc3 85 PID::setSetPoint(point);
takeuchi 32:b619c7787dc3 86 }
takeuchi 32:b619c7787dc3 87
takeuchi 32:b619c7787dc3 88 void PIDC::resetOffset()
uchitake 5:16ea97725085 89 {
uchitake 5:16ea97725085 90 beforeDegree = HMC6352::sample();
takeuchi 32:b619c7787dc3 91 offSetDegree = HMC6352::sample();
uchitake 5:16ea97725085 92 turnOverNumber = 0;
uchitake 5:16ea97725085 93 }
uchitake 1:845af5425eec 94
uchitake 1:845af5425eec 95 void PIDC::calibration(int mode)
uchitake 1:845af5425eec 96 {
uchitake 1:845af5425eec 97 setCalibrationMode(mode);
uchitake 1:845af5425eec 98 }