NagaokaRoboticsClub_mbedTeam / Mbed OS KANIv3

kani

Dependencies:   2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC

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bot/PIDcontroller/PID_controller.h@5:16ea97725085, 2017-09-06 (annotated)

Committer:
uchitake
Date:
Wed Sep 06 17:47:20 2017 +0900
Revision:
5:16ea97725085
Parent:
4:1073deb368df
Child:
6:fe9767a50891
working  MEGA  STUPID CODE

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 1:845af5425eec 38
uchitake 1:845af5425eec 39 /**
uchitake 1:845af5425eec 40 * @brief コンパスセンサを使ったPIDコントローラ
uchitake 1:845af5425eec 41 */
uchitake 1:845af5425eec 42 class PIDC : public PID, HMC6352, Ticker
uchitake 1:845af5425eec 43 {
uchitake 1:845af5425eec 44 public :
uchitake 1:845af5425eec 45 /**
uchitake 1:845af5425eec 46 * @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 47 */
uchitake 1:845af5425eec 48 PIDC();
uchitake 1:845af5425eec 49
uchitake 1:845af5425eec 50 /**
uchitake 1:845af5425eec 51 * @brief コンストラクタ
uchitake 1:845af5425eec 52 * @param sda sda HMC6352
uchitake 1:845af5425eec 53 * @param scl scl HMC6352
uchitake 1:845af5425eec 54 * @param kc KC
uchitake 1:845af5425eec 55 * @param ti TI
uchitake 1:845af5425eec 56 * @param td TD
uchitake 1:845af5425eec 57 * @param interval interval
uchitake 1:845af5425eec 58 */
uchitake 1:845af5425eec 59 PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval);
uchitake 1:845af5425eec 60
uchitake 4:1073deb368df 61
uchitake 1:845af5425eec 62 void confirm();
uchitake 5:16ea97725085 63 void resetOffset();
uchitake 5:16ea97725085 64 void resetOffset2();
uchitake 1:845af5425eec 65 float getCo() const;
uchitake 5:16ea97725085 66 int getDegree() const;
uchitake 1:845af5425eec 67 void calibration(int mode);
uchitake 1:845af5425eec 68 private :
uchitake 1:845af5425eec 69
uchitake 1:845af5425eec 70 void updateOutput();
uchitake 1:845af5425eec 71
uchitake 1:845af5425eec 72 int offSetDegree;
uchitake 5:16ea97725085 73 int offSetDegree2;
uchitake 1:845af5425eec 74 int turnOverNumber;
uchitake 1:845af5425eec 75 int beforeDegree;
uchitake 1:845af5425eec 76
uchitake 1:845af5425eec 77 protected :
uchitake 5:16ea97725085 78 int rawDegree;
uchitake 1:845af5425eec 79 float co;
uchitake 1:845af5425eec 80 float processValue;
uchitake 1:845af5425eec 81 int initDegree;
uchitake 5:16ea97725085 82 int initDegree2;
uchitake 5:16ea97725085 83 int baseAngle;
uchitake 1:845af5425eec 84 };
uchitake 1:845af5425eec 85
uchitake 1:845af5425eec 86 #endif//PID_CONTROLLER_H