Diff: DaclePID/DaclePID.cpp

Revision:

0:9cb9445a11f0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DaclePID/DaclePID.cpp	Wed Jul 17 15:58:25 2013 +0000
@@ -0,0 +1,56 @@
+#include "DaclePID.h"
+
+
+DaclePID::DaclePID(float Kc, float Ti, float Td, float interval) {
+
+    setCoeff(Kc, Ti, Td);
+    dT_ = interval;
+
+    accError_ = 0.0;
+    pidSortie_ = 0.0;
+    erreurPres_ = 0.0;
+    minInput_=0; maxInput_=3.3;
+    minOutput_=0; maxOutput_=3.3;
+    consigne_=0;
+    biais_=0;
+    
+}
+
+void DaclePID::setCoeff(float Kc, float Ti, float Td){
+
+    Kc_ = Kc;
+    Ti_ = Ti;
+    Td_= Td;
+
+}
+
+void DaclePID::setInputLimits(float minInput, float maxInput){
+    minInput_=minInput; maxInput_=maxInput;
+}
+
+void DaclePID::setOutputLimits(float minOutput, float maxOutput){
+    minOutput_=minOutput; maxOutput_=maxOutput;
+}
+
+float DaclePID::dacalcul(float erreur){
+    
+    float _erreur = to01(erreur)-to01(consigne_);
+    
+    accError_ += _erreur;
+    float dErreur = (_erreur - erreurPres_) /dT_;
+
+    pidSortie_ = Kc_ * (_erreur + (Ti_ * accError_ * dT_) + (Td_ * dErreur));
+
+    erreurPres_ = _erreur;
+
+    return from01(pidSortie_) - from01(biais_);
+
+}
+
+float DaclePID::to01(float x){
+        return (x-minInput_)/(maxInput_-minInput_);
+}
+    
+float DaclePID::from01(float x){
+        return (maxOutput_-minOutput_)*x + minOutput_;
+}