Robocon 2021 / Mbed 2 deprecated PID

Source: https://gist.github.com/bradley219/5373998 Include serial output

Dependencies:   mbed

Dependents:   DC_Stepper_Controller_Lib

pid.h@1:4ecc202a912a, 2021-05-27 (annotated)

Committer:
stivending
Date:
Thu May 27 05:43:33 2021 +0000
Revision:
1:4ecc202a912a
Parent:
0:845ccddeede5 
change min/max to absolute control;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ftppr 0:845ccddeede5 1 /**
ftppr 0:845ccddeede5 2 * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
ftppr 0:845ccddeede5 3 *
ftppr 0:845ccddeede5 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
ftppr 0:845ccddeede5 5 * of this software and associated documentation files (the "Software"), to deal
ftppr 0:845ccddeede5 6 * in the Software without restriction, including without limitation the rights
ftppr 0:845ccddeede5 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ftppr 0:845ccddeede5 8 * copies of the Software, and to permit persons to whom the Software is
ftppr 0:845ccddeede5 9 * furnished to do so, subject to the following conditions:
ftppr 0:845ccddeede5 10 *
ftppr 0:845ccddeede5 11 * The above copyright notice and this permission notice shall be included in
ftppr 0:845ccddeede5 12 * all copies or substantial portions of the Software.
ftppr 0:845ccddeede5 13 *
ftppr 0:845ccddeede5 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ftppr 0:845ccddeede5 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ftppr 0:845ccddeede5 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ftppr 0:845ccddeede5 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ftppr 0:845ccddeede5 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ftppr 0:845ccddeede5 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ftppr 0:845ccddeede5 20 * THE SOFTWARE.
ftppr 0:845ccddeede5 21 */
ftppr 0:845ccddeede5 22
ftppr 0:845ccddeede5 23 #ifndef _PID_H_
ftppr 0:845ccddeede5 24 #define _PID_H_
ftppr 0:845ccddeede5 25
ftppr 0:845ccddeede5 26 class PIDImpl;
ftppr 0:845ccddeede5 27 class PID
ftppr 0:845ccddeede5 28 {
ftppr 0:845ccddeede5 29 public:
ftppr 0:845ccddeede5 30 // Kp - proportional gain
ftppr 0:845ccddeede5 31 // Ki - Integral gain
ftppr 0:845ccddeede5 32 // Kd - derivative gain
ftppr 0:845ccddeede5 33 // dt - loop interval time
ftppr 0:845ccddeede5 34 // max - maximum value of manipulated variable
ftppr 0:845ccddeede5 35 // min - minimum value of manipulated variable
ftppr 0:845ccddeede5 36 PID( double dt, double max, double min, double Kp, double Kd, double Ki );
ftppr 0:845ccddeede5 37
ftppr 0:845ccddeede5 38 // Returns the manipulated variable given a setpoint and current process value
ftppr 0:845ccddeede5 39 double calculate( double setpoint, double pv );
ftppr 0:845ccddeede5 40 ~PID();
ftppr 0:845ccddeede5 41
ftppr 0:845ccddeede5 42 private:
ftppr 0:845ccddeede5 43 PIDImpl *pimpl;
ftppr 0:845ccddeede5 44 };
ftppr 0:845ccddeede5 45
ftppr 0:845ccddeede5 46 #endif