File content as of revision 0:be531c5604db:

#include "PID.h"
#include "mbed.h"

PID::PID(){
  integral = 0;
  prev_hensa = 0;
  nowtime = 0;
  prev_time = 0;
  lateD = 0;
}

float PID::control(float target, float nowrpm, Timer *timer){
  //timer->start();
  nowtime =timer->read();
  float hensa = target - nowrpm;
  float dt = 1000000 / (nowtime - prev_time);
  integral += (hensa + prev_hensa) / 2 * dt;
  float differential = (hensa - prev_hensa) / dt;
  float sousaryou = Kp*hensa + Ki*integral + Kd*differential;
  prev_hensa = hensa;
  prev_time =timer->read();
  return sousaryou;
}

float PID::PI_lateD(float target, float nowrpm, Timer *timer){
  nowtime = (*timer).read();
  float hensa = target - nowrpm;
  float dt = nowtime - prev_time;
  integral += (hensa + prev_hensa) / 2 *dt;
  float sousaryou = Kp*hensa + Ki*integral + Kd*lateD;
  prev_hensa = hensa;
  prev_time = timer->read();
  lateD = (hensa - prev_hensa) / dt;
  return sousaryou;
}

float PID::control_P(float target, float nowrpm, float new_Kp){
  float hensa = target - nowrpm;
  float sousaryou = new_Kp*hensa;
  return sousaryou;
}

float PID::control_PI(float target, float nowrpm, Timer *timer){
  Kp = 0.45 * Ku;
  Ti = 0.83 * Pu;
  Ki = (1 / Ti) * Kp;
  nowtime = timer->read();
  float hensa = target - nowrpm;
  float dt = nowtime -prev_time;
  integral += (hensa + prev_hensa) / 2 * dt;
  float sousaryou = Kp*hensa + Ki*integral;
  prev_hensa = hensa;
  prev_time = timer->read();
  return sousaryou;
}

void PID::setParameter_pid(float new_Kp, float new_Ki, float new_Kd){
  Kp = new_Kp;
  Ki = new_Ki;
  Kd = new_Kd;
}

void PID::setParameter_KuPu(float new_Ku, float new_Pu){
  Ku = new_Ku;
  Pu = new_Pu;
  Kp = 0.60 * Ku;
  Ti = 0.50 * Pu;
  Td = 0.125 * Pu;
  Ki = (1 / Ti) * Kp;
  Kd = Td * Kp;
}

void PID::reset(float target){
  integral = 0;
  prev_hensa = target;
  prev_time = timer->read();
}