Marleen van Hoorn / Mbed 2 deprecated PID_controller

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 0:297b00643040, committed 2018-10-30

Comitter:
Marle
Date:
Tue Oct 30 18:57:03 2018 +0000
Commit message:
PID controller;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 297b00643040 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 30 18:57:03 2018 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+
+double Kp = 17.5;
+double Ki = 1.02;
+double Kd = 23.2;
+double Ts = 0.005f;
+ // Sample time in seconds= tickertijd
+
+double PID_controller(double error)
+{
+    static double error_integral = 0;
+    static double error_prev = error; // initialization with this value only done once!  
+    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //to eliminate sensor noise to get accurate D-action calculation
+    
+    // Proportional part:  
+    double u_k = Kp * e;
+    
+    // Integral part:
+    error_integral = error_integral + error * Ts;
+    double u_i = Ki * error_integral;
+    
+    // Derivative part: 
+    double error_derivative = (error - error_prev)/Ts;
+    double filtered_error_derivative = LowPassFilter.step(error_derivative);
+    double u_d = Kd * filtered_error_derivative;  error_prev = error;
+    error_prev = error;
+    
+    // Sum all parts and return it  
+    return u_k + u_i + u_d;   
\ No newline at end of file

diff -r 000000000000 -r 297b00643040 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Oct 30 18:57:03 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file