Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
PID_Cntrl.h@10:447f6a864598, 2019-09-23 (annotated)
- Committer:
- altb2
- Date:
- Mon Sep 23 08:59:29 2019 +0000
- Revision:
- 10:447f6a864598
- Parent:
- 9:074f4f94b584
- Child:
- 11:7ea3efaf0469
Added overloaded method in PID_Cntrl so that dt1 part is in bwd loop.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 1:1010530120ce | 1 | #ifndef PID_CNTRL_H_ |
altb | 1:1010530120ce | 2 | #define PID_CNTRL_H_ |
altb | 1:1010530120ce | 3 | |
altb | 0:d49418189c5c | 4 | class PID_Cntrl |
altb | 0:d49418189c5c | 5 | { |
altb | 0:d49418189c5c | 6 | public: |
altb | 0:d49418189c5c | 7 | |
altb | 0:d49418189c5c | 8 | PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax); |
altb | 0:d49418189c5c | 9 | |
altb | 0:d49418189c5c | 10 | float operator()(float error) { |
altb2 | 2:e7c9e50a2e46 | 11 | return doStep(error); |
altb | 0:d49418189c5c | 12 | } |
altb2 | 10:447f6a864598 | 13 | float operator()(float error,float y) { |
altb2 | 10:447f6a864598 | 14 | return doStep(error,y); |
altb2 | 10:447f6a864598 | 15 | } |
altb | 0:d49418189c5c | 16 | |
altb | 0:d49418189c5c | 17 | virtual ~PID_Cntrl(); |
altb | 0:d49418189c5c | 18 | |
altb | 0:d49418189c5c | 19 | void reset(float initValue); |
altb2 | 2:e7c9e50a2e46 | 20 | float doStep(float error); |
altb2 | 10:447f6a864598 | 21 | float doStep(float error,float y); |
altb2 | 2:e7c9e50a2e46 | 22 | void set_limits(float ,float ); |
altb | 0:d49418189c5c | 23 | float get_ulimit(void); |
altb2 | 5:d8c53cece01b | 24 | float get_P_gain(void); |
altb2 | 3:27595dd9e433 | 25 | void setCoeff_P(float); |
altb2 | 3:27595dd9e433 | 26 | void setCoeff_I(float); |
altb2 | 3:27595dd9e433 | 27 | void setCoeff_D(float); |
altb2 | 5:d8c53cece01b | 28 | void scale_PID_param(float); |
altb | 0:d49418189c5c | 29 | |
altb | 0:d49418189c5c | 30 | private: |
altb | 0:d49418189c5c | 31 | |
altb2 | 2:e7c9e50a2e46 | 32 | float Iold; |
altb2 | 10:447f6a864598 | 33 | float eold,yold,del,Dpart_old; |
altb2 | 2:e7c9e50a2e46 | 34 | float uMax; |
altb2 | 2:e7c9e50a2e46 | 35 | float uMin; |
altb2 | 3:27595dd9e433 | 36 | float Ts,tau_f; |
altb2 | 2:e7c9e50a2e46 | 37 | float P,I,D_; |
altb2 | 5:d8c53cece01b | 38 | float P_init, I_init, D__init; |
altb2 | 2:e7c9e50a2e46 | 39 | float p, Ka; |
altb | 0:d49418189c5c | 40 | void setCoefficients(float P, float I, float D, float tau_f, float Ts); |
altb | 1:1010530120ce | 41 | }; |
altb | 1:1010530120ce | 42 | |
altb | 1:1010530120ce | 43 | #endif // #PID_CNTRL_H |