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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: controller_copy.cpp
- Revision:
- 40:82addb417220
diff -r 5e2e95c322da -r 82addb417220 controller_copy.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/controller_copy.cpp Mon Oct 14 11:46:35 2019 +0000
@@ -0,0 +1,25 @@
+//Gains
+double e = 1.02;
+double Ts = 0.92;
+
+ double K_p = 1;//Position gain
+ double K_i = 1;//Integral gain
+ double K_d = 1;//Diverentiation gain
+
+ //static double u_i = 0;
+ static double e_Prev = 0;
+
+double ControllerPID(double e, double Ts)
+{
+ double u_p = K_p*e; //Position action
+ double u_i = K_i*(e*Ts+u_i); //Integral action
+ double u_d = K_d*((e-e_Prev)/Ts); //Diverential action
+
+ e_Prev = e; //Write error to previous error
+
+ double u;
+
+ u = u_p + u_i + u_d;
+
+ return u;
+}
\ No newline at end of file