NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/PIDcontroller/PID_controller.cpp@26:7258d5ad0bff, 2017-10-25 (annotated)
- Committer:
- number_key
- Date:
- Wed Oct 25 03:25:06 2017 +0900
- Revision:
- 26:7258d5ad0bff
- Parent:
- 23:37bb9afe9fdc
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 6:590c9622ecf1 | 1 | #include "PID_controller.h" |
UCHITAKE | 6:590c9622ecf1 | 2 | |
UCHITAKE | 6:590c9622ecf1 | 3 | void PIDC::updateOutput() |
UCHITAKE | 6:590c9622ecf1 | 4 | { |
UCHITAKE | 6:590c9622ecf1 | 5 | confirm(); |
UCHITAKE | 6:590c9622ecf1 | 6 | } |
UCHITAKE | 6:590c9622ecf1 | 7 | |
number_key | 22:682cc376da6f | 8 | PIDC::PIDC() : |
number_key | 22:682cc376da6f | 9 | PID(KC, TI, TD, INTERVAL), |
number_key |
26:7258d5ad0bff | 10 | HMC6352(HMCsda, HMCscl), |
number_key |
26:7258d5ad0bff | 11 | offSetDegree(0), |
number_key | 22:682cc376da6f | 12 | turnOverNumber(0), |
number_key | 22:682cc376da6f | 13 | beforeDegree(0), |
number_key | 22:682cc376da6f | 14 | rawDegree(0), |
number_key | 22:682cc376da6f | 15 | calculationResult(0), |
number_key |
26:7258d5ad0bff | 16 | currentDegree(0) |
UCHITAKE | 6:590c9622ecf1 | 17 | { |
uchitake |
19:41f7dd1a5ed1 | 18 | PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); |
uchitake |
19:41f7dd1a5ed1 | 19 | PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); |
uchitake |
19:41f7dd1a5ed1 | 20 | PID::setBias(BIAS); |
uchitake |
19:41f7dd1a5ed1 | 21 | PID::setMode(AUTO_MODE); |
uchitake |
19:41f7dd1a5ed1 | 22 | PID::setSetPoint(0.0); |
UCHITAKE | 6:590c9622ecf1 | 23 | |
number_key |
26:7258d5ad0bff | 24 | wait(0.1); |
number_key |
26:7258d5ad0bff | 25 | HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); |
number_key |
26:7258d5ad0bff | 26 | wait(0.1); |
number_key |
26:7258d5ad0bff | 27 | rawDegree = HMC6352::sample(); |
number_key | 22:682cc376da6f | 28 | beforeDegree = rawDegree; |
number_key |
26:7258d5ad0bff | 29 | offSetDegree = rawDegree; |
UCHITAKE | 6:590c9622ecf1 | 30 | } |
UCHITAKE | 6:590c9622ecf1 | 31 | |
uchitake |
19:41f7dd1a5ed1 | 32 | PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) : |
number_key | 22:682cc376da6f | 33 | PID(kc, ti, td, interval), |
number_key |
26:7258d5ad0bff | 34 | HMC6352(sda, scl), |
number_key |
26:7258d5ad0bff | 35 | offSetDegree(0), |
number_key | 22:682cc376da6f | 36 | turnOverNumber(0), |
number_key | 22:682cc376da6f | 37 | beforeDegree(0), |
number_key | 22:682cc376da6f | 38 | rawDegree(0), |
number_key | 22:682cc376da6f | 39 | calculationResult(0), |
number_key |
26:7258d5ad0bff | 40 | currentDegree(0) |
number_key | 20:477c5d039e93 | 41 | { |
number_key | 20:477c5d039e93 | 42 | PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT); |
number_key | 20:477c5d039e93 | 43 | PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT); |
number_key | 20:477c5d039e93 | 44 | PID::setBias(BIAS); |
number_key | 20:477c5d039e93 | 45 | PID::setMode(AUTO_MODE); |
number_key | 20:477c5d039e93 | 46 | PID::setSetPoint(0.0); |
number_key | 20:477c5d039e93 | 47 | |
number_key |
26:7258d5ad0bff | 48 | wait(0.1); |
number_key |
26:7258d5ad0bff | 49 | HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20); |
number_key |
26:7258d5ad0bff | 50 | wait(0.1); |
number_key |
26:7258d5ad0bff | 51 | rawDegree = HMC6352::sample(); |
number_key | 22:682cc376da6f | 52 | beforeDegree = rawDegree; |
number_key |
26:7258d5ad0bff | 53 | offSetDegree = rawDegree; |
number_key | 20:477c5d039e93 | 54 | } |
uchitake |
19:41f7dd1a5ed1 | 55 | |
uchitake |
19:41f7dd1a5ed1 | 56 | |
UCHITAKE | 6:590c9622ecf1 | 57 | void PIDC::confirm() |
UCHITAKE | 6:590c9622ecf1 | 58 | { |
number_key |
26:7258d5ad0bff | 59 | rawDegree = HMC6352::sample(); |
number_key | 22:682cc376da6f | 60 | if(rawDegree - beforeDegree < -SENSED_THRESHOLD) ++turnOverNumber; |
number_key | 22:682cc376da6f | 61 | if(rawDegree - beforeDegree > SENSED_THRESHOLD) --turnOverNumber; |
number_key |
26:7258d5ad0bff | 62 | currentDegree = rawDegree - offSetDegree + turnOverNumber * 3600; |
number_key |
26:7258d5ad0bff | 63 | beforeDegree = HMC6352::sample(); |
number_key |
26:7258d5ad0bff | 64 | PID::setProcessValue(currentDegree / 10.0); |
number_key | 22:682cc376da6f | 65 | calculationResult = PID::compute(); |
number_key | 22:682cc376da6f | 66 | } |
number_key | 22:682cc376da6f | 67 | |
number_key | 22:682cc376da6f | 68 | float PIDC::getCalculationResult() const |
number_key | 22:682cc376da6f | 69 | { |
number_key | 22:682cc376da6f | 70 | return calculationResult; |
UCHITAKE | 6:590c9622ecf1 | 71 | } |
UCHITAKE | 6:590c9622ecf1 | 72 | |
number_key |
26:7258d5ad0bff | 73 | int PIDC::getCurrentDegree() const |
number_key | 22:682cc376da6f | 74 | { |
number_key |
26:7258d5ad0bff | 75 | return currentDegree; |
number_key |
26:7258d5ad0bff | 76 | } |
number_key |
26:7258d5ad0bff | 77 | |
number_key |
26:7258d5ad0bff | 78 | int PIDC::getRawDegree() |
number_key |
26:7258d5ad0bff | 79 | { |
number_key |
26:7258d5ad0bff | 80 | return HMC6352::sample(); |
number_key | 22:682cc376da6f | 81 | } |
number_key | 22:682cc376da6f | 82 | |
number_key |
26:7258d5ad0bff | 83 | void PIDC::setPoint(float point) |
UCHITAKE | 6:590c9622ecf1 | 84 | { |
number_key |
26:7258d5ad0bff | 85 | PID::setSetPoint(point); |
uchitake |
19:41f7dd1a5ed1 | 86 | } |
number_key | 22:682cc376da6f | 87 | |
number_key |
26:7258d5ad0bff | 88 | void PIDC::resetOffset() |
number_key | 22:682cc376da6f | 89 | { |
number_key |
26:7258d5ad0bff | 90 | beforeDegree = HMC6352::sample(); |
number_key |
26:7258d5ad0bff | 91 | offSetDegree = HMC6352::sample(); |
number_key | 22:682cc376da6f | 92 | turnOverNumber = 0; |
number_key | 22:682cc376da6f | 93 | } |
number_key | 22:682cc376da6f | 94 | |
number_key | 22:682cc376da6f | 95 | void PIDC::calibration(int mode) |
number_key | 22:682cc376da6f | 96 | { |
number_key |
26:7258d5ad0bff | 97 | setCalibrationMode(mode); |
number_key | 22:682cc376da6f | 98 | } |