Revision 2:994ed695c8a5, committed 2019-02-20

Comitter:

Clarkk

Date:

Wed Feb 20 22:15:52 2019 +0000

Parent:

1:946d71f8afc6

Commit message:

Added variables initialization

Changed in this revision

--- a/PIDcontroller.cpp	Wed Jul 05 20:30:07 2017 +0000
+++ b/PIDcontroller.cpp	Wed Feb 20 22:15:52 2019 +0000
@@ -49,11 +49,39 @@
 float PID::processNewValue(float input)
 {
     float dt;
-    error = input - target;
-    dt = t.read();
-    t.reset();
-    integral = integral + error*dt;
-    derivative = (error - previous_error)/dt;
+    error = target - input;
+    
+    if(kp != 0)
+        pout = kp*error;
+    else
+        pout = 0;
+    // TODO: see if there is a need of a clamp on integral term
+    if((ki!= 0) || (kd != 0))
+    {
+        dt = t.read();
+        t.reset();
+            
+        if(ki != 0)
+        {
+            integral = integral + error*dt;
+            iout = ki*integral;
+        }
+        else
+            iout = 0;
+        
+        if(kd != 0)
+        {
+            derivative = (error - previous_error)/dt;
+            dout = kd*derivative;
+        }
+        else
+            dout = 0;
+    }
+    else
+    {
+        iout = 0;
+        dout = 0;
+    }
     previous_error = error;
     
     return getControllerOutput();
@@ -63,7 +91,7 @@
 {
     float output;
     
-    output = kp*error + ki*integral + kd*derivative;
+    output = pout + iout + dout;
     
     if(output > outputMax)
         return outputMax;
@@ -73,3 +101,8 @@
         
     return output;
 }
+
+float PID::getIntegralTerm(void)
+{
+    return integral;
+}

--- a/PIDcontroller.h	Wed Jul 05 20:30:07 2017 +0000
+++ b/PIDcontroller.h	Wed Feb 20 22:15:52 2019 +0000
@@ -14,11 +14,13 @@
     void setOutputLimits(float min, float max);
     float processNewValue(float input);
     float getControllerOutput(void);
+    float getIntegralTerm(void);
     
     private:
 
     float target;    
     float kp, ki, kd;
+    float pout,iout,dout;
     float integral, derivative;
     float error, previous_error;
     float outputMin, outputMax;