Diff: bot/PIDcontroller/PID_controller.cpp

Revision:

2:ea151e05033a

diff -r 269914e0aa07 -r ea151e05033a bot/PIDcontroller/PID_controller.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/PIDcontroller/PID_controller.cpp	Tue Aug 22 11:56:47 2017 +0000
@@ -0,0 +1,31 @@
+#include "PID_controller.h"
+
+void PIDC::updateOutput()
+{
+    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();
+}
+
+PIDC::PIDC() : PID(KC, TI, TD, INTERVAL), HMC6352(Sensor3pin5a, Sensor3pin5a)
+{
+    setInputLimits(-M_PI, M_PI);
+    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, 0.05);
+}
\ No newline at end of file