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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

controller_copy.cpp@40:82addb417220, 2019-10-14 (annotated)

Committer:
JornD
Date:
Mon Oct 14 11:46:35 2019 +0000
Revision:
40:82addb417220
Added some files and commented out Jordan's code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JornD 40:82addb417220 1 //Gains
JornD 40:82addb417220 2 double e = 1.02;
JornD 40:82addb417220 3 double Ts = 0.92;
JornD 40:82addb417220 4
JornD 40:82addb417220 5 double K_p = 1;//Position gain
JornD 40:82addb417220 6 double K_i = 1;//Integral gain
JornD 40:82addb417220 7 double K_d = 1;//Diverentiation gain
JornD 40:82addb417220 8
JornD 40:82addb417220 9 //static double u_i = 0;
JornD 40:82addb417220 10 static double e_Prev = 0;
JornD 40:82addb417220 11
JornD 40:82addb417220 12 double ControllerPID(double e, double Ts)
JornD 40:82addb417220 13 {
JornD 40:82addb417220 14 double u_p = K_p*e; //Position action
JornD 40:82addb417220 15 double u_i = K_i*(e*Ts+u_i); //Integral action
JornD 40:82addb417220 16 double u_d = K_d*((e-e_Prev)/Ts); //Diverential action
JornD 40:82addb417220 17
JornD 40:82addb417220 18 e_Prev = e; //Write error to previous error
JornD 40:82addb417220 19
JornD 40:82addb417220 20 double u;
JornD 40:82addb417220 21
JornD 40:82addb417220 22 u = u_p + u_i + u_d;
JornD 40:82addb417220 23
JornD 40:82addb417220 24 return u;
JornD 40:82addb417220 25 }