Tess Groeneveld / Mbed 2 deprecated PIDregelaargroep7

Version 1: the PID controller not implemented yet

Dependencies:   mbed

main.cpp

Committer:
Tess
Date:
2013-10-30
Revision:
0:9a990e099b26

File content as of revision 0:9a990e099b26:

#include "mbed.h"
//const float dt = 0.02;

const float dt = 0.02;
float Kp = 0.125;
float Ki = 0.844;
float Kd = 0.00679;
float error_t0 = 0;
float error_t_1;
float P_regelaar;
float I_regelaar;
float D_regelaar;
float integral_i;
float integral_0 = 0;

// setpoint is gewilde waarde
// motorA.getPosition() is gemeten waarde

do{
    wait(dt)
    error_ti = setpointA - motorA.getPosition();
    P_regelaar = Kp * error_ti
    D_regelaar = Kd * ((error_ti - error_t0) / dt);
    integral_i = integral_0 + (error_ti * dt);
    I_regelaar = Ki * integral_i;
    integral_0 = integral_i;
    error_t0 = error_ti;
}

output_regelaar = P_regelaar + I_regelaar + D_regelaar;