Source: https://gist.github.com/bradley219/5373998 Include serial output
Dependencies: mbed
Dependents: DC_Stepper_Controller_Lib
Revision 1:4ecc202a912a, committed 2021-05-27
- Comitter:
- stivending
- Date:
- Thu May 27 05:43:33 2021 +0000
- Parent:
- 0:845ccddeede5
- Commit message:
- change min/max to absolute control;
Changed in this revision
main.cpp | Show diff for this revision Revisions of this file |
pid.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 845ccddeede5 -r 4ecc202a912a main.cpp --- a/main.cpp Mon May 24 14:46:32 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,41 +0,0 @@ -/** - * 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; -}
diff -r 845ccddeede5 -r 4ecc202a912a pid.cpp --- a/pid.cpp Mon May 24 14:46:32 2021 +0000 +++ b/pid.cpp Thu May 27 05:43:33 2021 +0000 @@ -98,10 +98,10 @@ double output = Pout + Iout + Dout; // Restrict to max/min - if( output > _max ) - output = _max; - else if( output < _min ) - output = _min; + if( abs(output) > _max ) + output = output > 0 ? _max : -_max; + else if( abs(output) < _min ) + output = output > 0 ? _min : -_min; // Save error to previous error _pre_error = error;