NagaokaRoboticsClub_mbedTeam / Mbed OS KANIv3

kani

Dependencies:   2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC

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bot/PIDcontroller/PID_controller.h@6:fe9767a50891, 2017-09-06 (annotated)

Committer:
uchitake
Date:
Wed Sep 06 18:39:19 2017 +0900
Revision:
6:fe9767a50891
Parent:
5:16ea97725085
Child:
7:c6acf63088b0
fix coding

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 /**
uchitake 1:845af5425eec 2 * @file PID_controller.h
uchitake 1:845af5425eec 3 * @brief コンパスセンサを使ったPIDコントローラ
uchitake 1:845af5425eec 4 *
uchitake 1:845af5425eec 5 * Example :
uchitake 1:845af5425eec 6 * @code
uchitake 1:845af5425eec 7 * #include "mbed.h"
uchitake 1:845af5425eec 8 * #include "PID_controller.h"
uchitake 1:845af5425eec 9 *
uchitake 1:845af5425eec 10 * PIDC pidc;
uchitake 1:845af5425eec 11 *
uchitake 1:845af5425eec 12 * int main()
uchitake 1:845af5425eec 13 * {
uchitake 1:845af5425eec 14 * while(1) {
uchitake 1:845af5425eec 15 * pidc.confirm();
uchitake 1:845af5425eec 16 * pc.printf("Hi, %f\r\n", pid.getCo());
uchitake 1:845af5425eec 17 * }
uchitake 1:845af5425eec 18 * }
uchitake 1:845af5425eec 19 * @endcode
uchitake 1:845af5425eec 20 */
uchitake 1:845af5425eec 21 #ifndef PID_CONTROLLER_H
uchitake 1:845af5425eec 22 #define PID_CONTROLLER_H
uchitake 1:845af5425eec 23
uchitake 1:845af5425eec 24 #include "mbed.h"
uchitake 1:845af5425eec 25 #include "pin_config.h"
uchitake 1:845af5425eec 26
uchitake 1:845af5425eec 27 #include "PID.h"
uchitake 1:845af5425eec 28 #include "HMC6352.h"
uchitake 1:845af5425eec 29
uchitake 1:845af5425eec 30 // const double M_PI = 3.141592653589793;
uchitake 5:16ea97725085 31 const double KC = 5.2;
uchitake 1:845af5425eec 32 const double TI = 0.0;
uchitake 5:16ea97725085 33 const double TD = 0.00;
uchitake 3:369d9ee17e84 34 const float INTERVAL = 0.01;
uchitake 1:845af5425eec 35 const float INPUT_LIMIT = 180.0;
uchitake 1:845af5425eec 36 const float OUTPUT_LIMIT = 0.4;
uchitake 1:845af5425eec 37 const float BIAS = 0.0;
uchitake 6:fe9767a50891 38 const int SENSED_THRESHOLD = 1800;
uchitake 1:845af5425eec 39
uchitake 1:845af5425eec 40 /**
uchitake 1:845af5425eec 41 * @brief コンパスセンサを使ったPIDコントローラ
uchitake 1:845af5425eec 42 */
uchitake 1:845af5425eec 43 class PIDC : public PID, HMC6352, Ticker
uchitake 1:845af5425eec 44 {
uchitake 1:845af5425eec 45 public :
uchitake 1:845af5425eec 46 /**
uchitake 1:845af5425eec 47 * @brief defaultコンストラクタ,タイマ割り込みでの計算開始
uchitake 1:845af5425eec 48 */
uchitake 1:845af5425eec 49 PIDC();
uchitake 1:845af5425eec 50
uchitake 1:845af5425eec 51 /**
uchitake 1:845af5425eec 52 * @brief コンストラクタ
uchitake 1:845af5425eec 53 * @param sda sda HMC6352
uchitake 1:845af5425eec 54 * @param scl scl HMC6352
uchitake 1:845af5425eec 55 * @param kc KC
uchitake 1:845af5425eec 56 * @param ti TI
uchitake 1:845af5425eec 57 * @param td TD
uchitake 1:845af5425eec 58 * @param interval interval
uchitake 1:845af5425eec 59 */
uchitake 1:845af5425eec 60 PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval);
uchitake 1:845af5425eec 61
uchitake 4:1073deb368df 62
uchitake 1:845af5425eec 63 void confirm();
uchitake 6:fe9767a50891 64 void resetAxisOffset();
uchitake 6:fe9767a50891 65 void resetPlaneOffset();
uchitake 6:fe9767a50891 66 float getCalculationResult() const;
uchitake 6:fe9767a50891 67 int getCurrentDegree() const;
uchitake 1:845af5425eec 68 void calibration(int mode);
uchitake 1:845af5425eec 69 private :
uchitake 1:845af5425eec 70
uchitake 1:845af5425eec 71 void updateOutput();
uchitake 1:845af5425eec 72
uchitake 6:fe9767a50891 73 int axisOffSetDegree;
uchitake 6:fe9767a50891 74 int planeOffSetDegree;
uchitake 1:845af5425eec 75 int turnOverNumber;
uchitake 1:845af5425eec 76 int beforeDegree;
uchitake 1:845af5425eec 77
uchitake 1:845af5425eec 78 protected :
uchitake 5:16ea97725085 79 int rawDegree;
uchitake 6:fe9767a50891 80 float calculationResult;
uchitake 6:fe9767a50891 81 int axisCurrentDegree;
uchitake 6:fe9767a50891 82 int planeCurrentDegree;
uchitake 1:845af5425eec 83 };
uchitake 1:845af5425eec 84
uchitake 1:845af5425eec 85 #endif//PID_CONTROLLER_H