Tess Groeneveld / Mbed 2 deprecated PIDregelaargroep7

Version 1: the PID controller not implemented yet

Dependencies:   mbed

main.cpp@0:9a990e099b26, 2013-10-30 (annotated)

Committer:
Tess
Date:
Wed Oct 30 15:01:15 2013 +0000
Revision:
0:9a990e099b26
Version 1; the PID controller not implemented yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tess 0:9a990e099b26 1 #include "mbed.h"
Tess 0:9a990e099b26 2 //const float dt = 0.02;
Tess 0:9a990e099b26 3
Tess 0:9a990e099b26 4 const float dt = 0.02;
Tess 0:9a990e099b26 5 float Kp = 0.125;
Tess 0:9a990e099b26 6 float Ki = 0.844;
Tess 0:9a990e099b26 7 float Kd = 0.00679;
Tess 0:9a990e099b26 8 float error_t0 = 0;
Tess 0:9a990e099b26 9 float error_t_1;
Tess 0:9a990e099b26 10 float P_regelaar;
Tess 0:9a990e099b26 11 float I_regelaar;
Tess 0:9a990e099b26 12 float D_regelaar;
Tess 0:9a990e099b26 13 float integral_i;
Tess 0:9a990e099b26 14 float integral_0 = 0;
Tess 0:9a990e099b26 15
Tess 0:9a990e099b26 16 // setpoint is gewilde waarde
Tess 0:9a990e099b26 17 // motorA.getPosition() is gemeten waarde
Tess 0:9a990e099b26 18
Tess 0:9a990e099b26 19 do{
Tess 0:9a990e099b26 20 wait(dt)
Tess 0:9a990e099b26 21 error_ti = setpointA - motorA.getPosition();
Tess 0:9a990e099b26 22 P_regelaar = Kp * error_ti
Tess 0:9a990e099b26 23 D_regelaar = Kd * ((error_ti - error_t0) / dt);
Tess 0:9a990e099b26 24 integral_i = integral_0 + (error_ti * dt);
Tess 0:9a990e099b26 25 I_regelaar = Ki * integral_i;
Tess 0:9a990e099b26 26 integral_0 = integral_i;
Tess 0:9a990e099b26 27 error_t0 = error_ti;
Tess 0:9a990e099b26 28 }
Tess 0:9a990e099b26 29
Tess 0:9a990e099b26 30 output_regelaar = P_regelaar + I_regelaar + D_regelaar;
Tess 0:9a990e099b26 31
Tess 0:9a990e099b26 32
Tess 0:9a990e099b26 33
Tess 0:9a990e099b26 34