Tess Groeneveld
/
PIDregelaargroep7
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Revision 0:9a990e099b26, committed 2013-10-30
- Comitter:
- Tess
- Date:
- Wed Oct 30 15:01:15 2013 +0000
- Commit message:
- Version 1; the PID controller not implemented yet
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 9a990e099b26 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 30 15:01:15 2013 +0000
@@ -0,0 +1,34 @@
+#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;
+
+
+
+
diff -r 000000000000 -r 9a990e099b26 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 30 15:01:15 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file