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.cpp

Committer:
UCHITAKE
Date:
2017-08-24
Revision:
6:590c9622ecf1
Child:
19:41f7dd1a5ed1

File content as of revision 6:590c9622ecf1:

#include "PID_controller.h"

void PIDC::updateOutput()
{
    confirm();
}

PIDC::PIDC() : PID(KC, TI, TD, INTERVAL), HMC6352(HMCsda, HMCscl)
{
    setInputLimits(-180, 180);
    setOutputLimits(-1.0, 1.0);
    setBias(0.0);
    setMode(AUTO_MODE);
    setSetPoint(0.0);

    setOpMode(HMC6352_CONTINUOUS, 1, 20);
    rawDegree = sample();
    beforeDegree = sample();
    offSetDegree = sample();
    initDegree = 0;
    turnOverNumber = 0;
//    this -> attach(this, &PIDC::updateOutput, INTERVAL);
}

void PIDC::confirm()
{
    rawDegree = sample();
    if(rawDegree - beforeDegree < -1800) turnOverNumber++;
    if(rawDegree - beforeDegree > 1800) turnOverNumber--;
    initDegree = rawDegree - offSetDegree + turnOverNumber * 3600;
    beforeDegree = sample(); 
    setProcessValue(initDegree / 10.0);
    co = compute();
}

float PIDC::getCo()
{
    return co;
}