NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/PIDcontroller/PID_controller.h@23:37bb9afe9fdc, 2017-09-13 (annotated)
- Committer:
- number_key
- Date:
- Wed Sep 13 14:26:47 2017 +0900
- Revision:
- 23:37bb9afe9fdc
- Parent:
- 22:682cc376da6f
- Child:
- 24:9a4ca5442717
move
Who changed what in which revision?
User | Revision | Line number | New 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 | |
number_key | 22:682cc376da6f | 14 | // const double M_PI = 3.141592653589793; |
number_key | 22:682cc376da6f | 15 | const double KC = 5.2; |
number_key | 22:682cc376da6f | 16 | const double TI = 0.0; |
number_key | 22:682cc376da6f | 17 | const double TD = 0.00; |
number_key |
23:37bb9afe9fdc | 18 | const float INTERVAL = 0.001; |
number_key | 22:682cc376da6f | 19 | const float INPUT_LIMIT = 180.0; |
number_key | 22:682cc376da6f | 20 | const float OUTPUT_LIMIT = 0.4; |
number_key | 22:682cc376da6f | 21 | const float BIAS = 0.0; |
number_key | 22:682cc376da6f | 22 | const int SENSED_THRESHOLD = 180; |
uchitake |
19:41f7dd1a5ed1 | 23 | |
UCHITAKE | 6:590c9622ecf1 | 24 | /** |
UCHITAKE | 6:590c9622ecf1 | 25 | * @brief コンパスセンサを使ったPIDコントローラ |
UCHITAKE | 6:590c9622ecf1 | 26 | */ |
number_key | 20:477c5d039e93 | 27 | class PIDC : public PID, JY901, Ticker |
UCHITAKE | 6:590c9622ecf1 | 28 | { |
UCHITAKE | 6:590c9622ecf1 | 29 | public : |
UCHITAKE | 6:590c9622ecf1 | 30 | /** |
uchitake |
19:41f7dd1a5ed1 | 31 | * @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 | 32 | */ |
UCHITAKE | 6:590c9622ecf1 | 33 | PIDC(); |
uchitake |
19:41f7dd1a5ed1 | 34 | |
uchitake |
19:41f7dd1a5ed1 | 35 | /** |
uchitake |
19:41f7dd1a5ed1 | 36 | * @brief コンストラクタ |
uchitake |
19:41f7dd1a5ed1 | 37 | * @param sda sda HMC6352 |
uchitake |
19:41f7dd1a5ed1 | 38 | * @param scl scl HMC6352 |
uchitake |
19:41f7dd1a5ed1 | 39 | * @param kc KC |
uchitake |
19:41f7dd1a5ed1 | 40 | * @param ti TI |
uchitake |
19:41f7dd1a5ed1 | 41 | * @param td TD |
uchitake |
19:41f7dd1a5ed1 | 42 | * @param interval interval |
uchitake |
19:41f7dd1a5ed1 | 43 | */ |
uchitake |
19:41f7dd1a5ed1 | 44 | PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval); |
uchitake |
19:41f7dd1a5ed1 | 45 | |
number_key | 22:682cc376da6f | 46 | /** |
number_key | 22:682cc376da6f | 47 | * @brief センサの値とPIDの値をアップデート |
number_key | 22:682cc376da6f | 48 | */ |
UCHITAKE | 6:590c9622ecf1 | 49 | void confirm(); |
number_key | 22:682cc376da6f | 50 | |
number_key | 22:682cc376da6f | 51 | /** |
number_key | 22:682cc376da6f | 52 | * @brief 回転用座標系リセット |
number_key | 22:682cc376da6f | 53 | */ |
number_key | 22:682cc376da6f | 54 | void resetAxisOffset(); |
number_key | 22:682cc376da6f | 55 | |
number_key | 22:682cc376da6f | 56 | /** |
number_key | 22:682cc376da6f | 57 | * 平行移動用座標系リセット |
number_key | 22:682cc376da6f | 58 | */ |
number_key | 22:682cc376da6f | 59 | void resetPlaneOffset(); |
number_key | 22:682cc376da6f | 60 | |
number_key | 22:682cc376da6f | 61 | /** |
number_key | 22:682cc376da6f | 62 | * @brief PIDの計算結果を取得 |
number_key | 22:682cc376da6f | 63 | * @return PIDの計算結果 |
number_key | 22:682cc376da6f | 64 | */ |
number_key | 22:682cc376da6f | 65 | float getCalculationResult() const; |
number_key | 22:682cc376da6f | 66 | |
number_key | 22:682cc376da6f | 67 | /** |
number_key | 22:682cc376da6f | 68 | * 現在の角度を取得 |
number_key | 22:682cc376da6f | 69 | * @return 現在の角度(degree) |
number_key | 22:682cc376da6f | 70 | */ |
number_key | 22:682cc376da6f | 71 | float getCurrentDegree() const; |
number_key | 22:682cc376da6f | 72 | |
number_key | 22:682cc376da6f | 73 | /** |
number_key | 22:682cc376da6f | 74 | * @brief キャリブレーションする |
number_key | 22:682cc376da6f | 75 | * @param mode ENTER OR EXIT |
number_key | 22:682cc376da6f | 76 | */ |
number_key |
23:37bb9afe9fdc | 77 | |
number_key |
23:37bb9afe9fdc | 78 | void renewAngle(); |
number_key |
23:37bb9afe9fdc | 79 | |
number_key | 22:682cc376da6f | 80 | void calibration(int mode); |
UCHITAKE | 6:590c9622ecf1 | 81 | private : |
uchitake |
19:41f7dd1a5ed1 | 82 | |
UCHITAKE | 6:590c9622ecf1 | 83 | void updateOutput(); |
uchitake |
19:41f7dd1a5ed1 | 84 | |
number_key | 22:682cc376da6f | 85 | float axisOffSetDegree; |
number_key | 22:682cc376da6f | 86 | float planeOffSetDegree; |
UCHITAKE | 6:590c9622ecf1 | 87 | int turnOverNumber; |
number_key | 22:682cc376da6f | 88 | float beforeDegree; |
UCHITAKE | 6:590c9622ecf1 | 89 | |
UCHITAKE | 6:590c9622ecf1 | 90 | protected : |
number_key | 22:682cc376da6f | 91 | float rawDegree; |
number_key | 22:682cc376da6f | 92 | float calculationResult; |
number_key | 22:682cc376da6f | 93 | float axisCurrentDegree; |
number_key | 22:682cc376da6f | 94 | float planeCurrentDegree; |
number_key |
23:37bb9afe9fdc | 95 | float angle; |
UCHITAKE | 6:590c9622ecf1 | 96 | }; |
UCHITAKE | 6:590c9622ecf1 | 97 | |
uchitake |
19:41f7dd1a5ed1 | 98 | #endif//PID_CONTROLLER_H |