NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/PIDcontroller/PID_controller.h@20:477c5d039e93, 2017-09-05 (annotated)

Committer:
number_key
Date:
Tue Sep 05 01:23:32 2017 +0000
Revision:
20:477c5d039e93
Parent:
19:41f7dd1a5ed1
Child:
22:682cc376da6f
start

Who changed what in which revision?

UserRevisionLine numberNew 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 6:590c9622ecf1 4 */
UCHITAKE 6:590c9622ecf1 5 #ifndef PID_CONTROLLER_H
UCHITAKE 6:590c9622ecf1 6 #define PID_CONTROLLER_H
UCHITAKE 6:590c9622ecf1 7
UCHITAKE 6:590c9622ecf1 8 #include "mbed.h"
UCHITAKE 6:590c9622ecf1 9 #include "pin_config.h"
UCHITAKE 6:590c9622ecf1 10
UCHITAKE 6:590c9622ecf1 11 #include "PID.h"
number_key 20:477c5d039e93 12 #include "jy901.h"
UCHITAKE 6:590c9622ecf1 13
UCHITAKE 6:590c9622ecf1 14 #define M_PI 3.141592653589793
UCHITAKE 6:590c9622ecf1 15 #define KC 1.0
UCHITAKE 6:590c9622ecf1 16 #define TI 0.0
UCHITAKE 6:590c9622ecf1 17 #define TD 0.0
uchitake 19:41f7dd1a5ed1 18 #define INTERVAL 0.05
uchitake 19:41f7dd1a5ed1 19 #define INPUT_LIMIT 180
uchitake 19:41f7dd1a5ed1 20 #define OUTPUT_LIMIT 1.0
uchitake 19:41f7dd1a5ed1 21 #define BIAS 0.0
uchitake 19:41f7dd1a5ed1 22
UCHITAKE 6:590c9622ecf1 23 /**
UCHITAKE 6:590c9622ecf1 24 * @brief コンパスセンサを使ったPIDコントローラ
UCHITAKE 6:590c9622ecf1 25 */
number_key 20:477c5d039e93 26 class PIDC : public PID, JY901, Ticker
UCHITAKE 6:590c9622ecf1 27 {
UCHITAKE 6:590c9622ecf1 28 public :
UCHITAKE 6:590c9622ecf1 29 /**
uchitake 19:41f7dd1a5ed1 30 * @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 31 */
UCHITAKE 6:590c9622ecf1 32 PIDC();
uchitake 19:41f7dd1a5ed1 33
uchitake 19:41f7dd1a5ed1 34 /**
uchitake 19:41f7dd1a5ed1 35 * @brief コンストラクタ
uchitake 19:41f7dd1a5ed1 36 * @param sda sda HMC6352
uchitake 19:41f7dd1a5ed1 37 * @param scl scl HMC6352
uchitake 19:41f7dd1a5ed1 38 * @param kc KC
uchitake 19:41f7dd1a5ed1 39 * @param ti TI
uchitake 19:41f7dd1a5ed1 40 * @param td TD
uchitake 19:41f7dd1a5ed1 41 * @param interval interval
uchitake 19:41f7dd1a5ed1 42 */
uchitake 19:41f7dd1a5ed1 43 PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval);
uchitake 19:41f7dd1a5ed1 44
UCHITAKE 6:590c9622ecf1 45 void confirm();
UCHITAKE 6:590c9622ecf1 46 float getCo();
UCHITAKE 6:590c9622ecf1 47 private :
uchitake 19:41f7dd1a5ed1 48
UCHITAKE 6:590c9622ecf1 49 void updateOutput();
uchitake 19:41f7dd1a5ed1 50
UCHITAKE 6:590c9622ecf1 51 int rawDegree;
UCHITAKE 6:590c9622ecf1 52 int offSetDegree;
UCHITAKE 6:590c9622ecf1 53 int turnOverNumber;
UCHITAKE 6:590c9622ecf1 54 int beforeDegree;
UCHITAKE 6:590c9622ecf1 55
UCHITAKE 6:590c9622ecf1 56 protected :
UCHITAKE 6:590c9622ecf1 57 float co;
UCHITAKE 6:590c9622ecf1 58 float processValue;
UCHITAKE 6:590c9622ecf1 59 int initDegree;
UCHITAKE 6:590c9622ecf1 60 };
UCHITAKE 6:590c9622ecf1 61
uchitake 19:41f7dd1a5ed1 62 #endif//PID_CONTROLLER_H