![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/PIDcontroller/PID_controller.cpp
- Committer:
- number_key
- Date:
- 2017-09-05
- Revision:
- 20:477c5d039e93
- Parent:
- 19:41f7dd1a5ed1
- Child:
- 22:682cc376da6f
File content as of revision 20:477c5d039e93:
#include "PID_controller.h" void PIDC::updateOutput() { confirm(); } PIDC::PIDC() : PID(KC, TI, TD, INTERVAL), JY901(HMCsda, HMCscl) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); PID::setBias(BIAS); PID::setMode(AUTO_MODE); PID::setSetPoint(0.0); //HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); rawDegree = JY901::getZaxisAngle(); beforeDegree = JY901::getZaxisAngle(); offSetDegree = JY901::getZaxisAngle(); initDegree = 0; turnOverNumber = 0; // this -> attach(this, &PIDC::updateOutput, INTERVAL); } PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) : PID(kc, ti, td, interval), JY901(sda, scl) { PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); PID::setBias(BIAS); PID::setMode(AUTO_MODE); PID::setSetPoint(0.0); //HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); rawDegree = JY901::getZaxisAngle(); beforeDegree = JY901::getZaxisAngle(); offSetDegree = JY901::getZaxisAngle(); initDegree = 0; turnOverNumber = 0; // this -> attach(this, &PIDC::updateOutput, INTERVAL); } void PIDC::confirm() { rawDegree = getZaxisAngle(); if(rawDegree - beforeDegree < -1800) turnOverNumber++; if(rawDegree - beforeDegree > 1800) turnOverNumber--; initDegree = rawDegree - offSetDegree + turnOverNumber * 3600; beforeDegree = JY901::getZaxisAngle(); PID::setProcessValue(initDegree / 10.0); co = PID::compute(); } float PIDC::getCo() { return co; }