frscl
/
PID
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Fork of
PID
by 
Aaron Berk
Revision 3:0f1bc3b0d050, committed 2015-05-19
- Comitter:
- miczyg
- Date:
- Tue May 19 16:39:18 2015 +0000
- Parent:
- 1:709ed452cc4c
- Commit message:
- Wzmocnienie, period itd ok, wersja P dzia?aj?ca.
Changed in this revision
| PID.cpp | Show annotated file Show diff for this revision Revisions of this file |
| PID.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/PID.cpp Thu May 14 12:28:08 2015 +0000
+++ b/PID.cpp Tue May 19 16:39:18 2015 +0000
@@ -24,7 +24,7 @@
* THE SOFTWARE.
*
* @section DESCRIPTION
- *
+ *
* A PID controller is a widely used feedback controller commonly found in
* industry.
*
@@ -49,7 +49,8 @@
*/
#include "PID.h"
-PID::PID(float Kc, float tauI, float tauD, float interval) {
+PID::PID(float Kc, float tauI, float tauD, float interval)
+{
usingFeedForward = false;
inAuto = false;
@@ -72,12 +73,13 @@
accError_ = 0.0;
bias_ = 0.0;
-
+
realOutput_ = 0.0;
}
-void PID::setInputLimits(float inMin, float inMax) {
+void PID::setInputLimits(float inMin, float inMax)
+{
//Make sure we haven't been given impossible values.
if (inMin >= inMax) {
@@ -101,7 +103,8 @@
}
-void PID::setOutputLimits(float outMin, float outMax) {
+void PID::setOutputLimits(float outMin, float outMax)
+{
//Make sure we haven't been given impossible values.
if (outMin >= outMax) {
@@ -124,7 +127,8 @@
}
-void PID::setTunings(float Kc, float tauI, float tauD) {
+void PID::setTunings(float Kc, float tauI, float tauD)
+{
//Verify that the tunings make sense.
if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) {
@@ -156,10 +160,11 @@
Kc_ = Kc;
tauR_ = tempTauR;
tauD_ = tauD / tSample_;
-
+
}
-void PID::reset(void) {
+void PID::reset(void)
+{
float scaledBias = 0.0;
@@ -177,7 +182,8 @@
}
-void PID::setMode(int mode) {
+void PID::setMode(int mode)
+{
//We were in manual, and we just got set to auto.
//Reset the controller internals.
@@ -189,7 +195,8 @@
}
-void PID::setInterval(float interval) {
+void PID::setInterval(float interval)
+{
if (interval > 0) {
//Convert the time-based tunings to reflect this change.
@@ -201,26 +208,30 @@
}
-void PID::setSetPoint(float sp) {
+void PID::setSetPoint(float sp)
+{
setPoint_ = sp;
}
-void PID::setProcessValue(float pv) {
+void PID::setProcessValue(float pv)
+{
processVariable_ = pv;
}
-void PID::setBias(float bias){
+void PID::setBias(float bias)
+{
bias_ = bias;
usingFeedForward = 1;
}
-float PID::compute() {
+float PID::compute()
+{
//Pull in the input and setpoint, and scale them into percent span.
scaledPV = (processVariable_ - inMin_) / inSpan_;
@@ -275,50 +286,63 @@
}
-float PID::getInMin() {
+float PID::getInMin()
+{
return inMin_;
}
-float PID::getInMax() {
+float PID::getInMax()
+{
return inMax_;
}
-float PID::getOutMin() {
+float PID::getOutMin()
+{
return outMin_;
}
-float PID::getOutMax() {
+float PID::getOutMax()
+{
return outMax_;
}
-float PID::getInterval() {
+float PID::getInterval()
+{
return tSample_;
}
-float PID::getPParam() {
+float PID::getPParam()
+{
return pParam_;
}
-float PID::getIParam() {
+float PID::getIParam()
+{
return iParam_;
}
-float PID::getDParam() {
+float PID::getDParam()
+{
return dParam_;
}
+
+void PID::resetAccError()
+{
+ accError_ = 0;
+}
\ No newline at end of file
--- a/PID.h Thu May 14 12:28:08 2015 +0000
+++ b/PID.h Tue May 19 16:39:18 2015 +0000
@@ -163,8 +163,9 @@
float getPParam();
float getIParam();
float getDParam();
-
-//private:
+ void resetAccError();
+
+private:
bool usingFeedForward;
bool inAuto;