Hang Liu
/
PID
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Fork of
PID
by 
Kamil Foryszewski
Revision 3:7f0ed54318df, committed 2016-11-08
- Comitter:
- HangL
- Date:
- Tue Nov 08 21:19:04 2016 +0000
- Parent:
- 2:0fff4827f3b6
- Commit message:
Changed in this revision
| PID.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PID.cpp Sun Nov 06 18:07:12 2016 +0000
+++ b/PID.cpp Tue Nov 08 21:19:04 2016 +0000
@@ -1,8 +1,8 @@
#include "PID.h"
-float Stand_Kc=120.0;float Stand_tauI=0.004;float Stand_tauD=0.0007;
-float Speed_Kc=0.0;float Speed_tauI=0.0;float Speed_tauD=0.0;
+float Stand_Kc=86.4/*84.0*//*120.0*/;float Stand_tauI=0.0288/*0.0028*//*0.004 and if times 10 is better!*/;float Stand_tauD=0.000504/*0.000504*//*0.0007*/;
+float Speed_Kc=/*3.0*/40.0;float Speed_tauI=/*0.015*/0.20;float Speed_tauD=0.0;//20,0.1better than 26.0,0.13
//PID::PID(float Kc, float tauI, float tauD, float interval)
PID::PID(float interval)
{
@@ -239,12 +239,20 @@
}
float PID::Speedcompute(double Stepper,double Target)
{
- static double Bias,PWM,Last_bias;
+ static double Bias,PWM,/*Last_bias,*/Integral_bias;
+ Stepper=Stepper/10;
Bias=Stepper-Target;
- PWM+=Speed_Kc*(Bias-Last_bias)+Speed_tauI*Bias;
- Last_bias=Bias;
+ /////////////////////////////////////
+ Stepper*=0.7;
+ Stepper+=Bias*0.3;
+ Integral_bias+=Stepper;
+ // Integral_bias+=Bias;
+ // PWM+=Speed_Kc*(Bias-Last_bias)+Speed_tauI*Bias;
+ PWM=Stepper*Speed_Kc+Integral_bias*Speed_tauI;
+ // Last_bias=Bias;
return PWM;
}
+
float PID::getInMin() {
return inMin_;