File content as of revision 2:493370c3e206:

#include "mbed.h"
#include "PID.h"

/*p,i,d:ゲイン設定　t:制御ループ時間 max:ourputの最大値*/
PID::PID(float p, float i, float d, float t, float max, Timer *T)
{
    timer = T;
    kp = p; ki = i; kd = d; delta_t = t;
    abs_max_output = max;
    integral = 0;
    pid_type = PID_LOCATE;
    allowable_error = 0;
    
}
void PID::setParameter(float p, float i, float d, float t, float max)
{
    kp = p; ki = i; kd = d; delta_t = t;
    abs_max_output = max;
    integral = 0;
}

/*計算のための割り込み開始*/
void PID::start()
{
    pidTimer.attach(this, &PID::_compute, delta_t);
}

/*計算のための割り込み停止*/
void PID::stop()
{
    reset();
    pidTimer.detach();
}

/*現在保持している計算データをリセット*/
void PID::reset()
{
    integral = 0;
    error[0] = 0;
    error[1] = 0;
}

/*計算する　タイマーで回される*/
void PID::_compute()
{    
    float proportion, differential;
    static float _output = 0;

    error[0] = *target - *sensor;

    proportion    = kp * error[0];
    integral     += ki * error[0] * delta_t;
    differential  = kd * (error[0] - error[1]) / delta_t;

    error[1] = error[0];

    integral = _gurd(integral, abs_max_output);
        
    if(pid_type == PID_LOCATE)
        _output = proportion + integral + differential;
    else if(pid_type == PID_SPEED)
        _output += proportion + integral + differential;
    else _output = 0;
    
    _output = _gurd(_output, abs_max_output);
    output = _output;
    
    if(_abs(error[0]) <= allowable_error)
        timer->start();
    else start_time = timer->read();
}

float PID::_gurd(float val, float abs_max)
{
    if(val > abs_max)
        return abs_max;
    else if(val < -abs_max)
        return -abs_max;
    else return val;
}
float PID::_abs(float val)
{
    if(val >= 0)
        return val;
    else return -val;
}

bool PID::isConvergence(float time_range)
{    
    if(timer->read() - start_time > time_range)
        return 1;
    else return 0;
}