Diff: main.cpp

Revision:

0:845ccddeede5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 24 14:46:32 2021 +0000
@@ -0,0 +1,41 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "pid.h"
+#include "mbed.h"
+
+Serial myPC(USBTX, USBRX); // import serial for the UART attached toUSB
+
+int main() {
+    myPC.printf("Welcome to PID Test \n\r");
+    PID pid = PID(0.1, 100, -100, 0.1, 0.01, 0.5);
+
+    double val = 20;
+    for (int i = 0; i < 100; i++) {
+        double inc = pid.calculate(0, val);
+        printf("val:% 7.3f inc:% 7.3f\n", val, inc);
+        myPC.printf("val:% 7.3f inc:% 7.3f\n", val, inc);
+        val += inc;
+    }
+
+    return 0;
+}