Tony Lin / Mbed 2 deprecated BX-car

hello

Dependencies:   mbed-rtos mbed

Fork of BX-car by kao yi

controller.h@10:9f0ce6ba7663, 2014-06-26 (annotated)

Committer:
TonyLin
Date:
Thu Jun 26 14:29:53 2014 +0000
Revision:
10:9f0ce6ba7663
Parent:
9:33b99cb45e99 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 7:fd976e1ced33 1 #include "mbed.h"
backman 7:fd976e1ced33 2
TonyLin 10:9f0ce6ba7663 3 class PID{
TonyLin 10:9f0ce6ba7663 4 public:
TonyLin 10:9f0ce6ba7663 5 float de_v;
backman 7:fd976e1ced33 6
backman 7:fd976e1ced33 7 /*
backman 7:fd976e1ced33 8 * Constructeur
backman 7:fd976e1ced33 9 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
backman 7:fd976e1ced33 10 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 11 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 12 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 13 * @param interval PID calculation performed every interval seconds.
backman 7:fd976e1ced33 14 */
backman 9:33b99cb45e99 15 PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval);
backman 7:fd976e1ced33 16
backman 7:fd976e1ced33 17 /*
backman 7:fd976e1ced33 18 * Scale from inputs to 0-100%.
backman 7:fd976e1ced33 19 * @param InMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 20 * @param InMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 21 */
backman 7:fd976e1ced33 22 void setInputLimits(float inMin, float inMax);
backman 7:fd976e1ced33 23
backman 7:fd976e1ced33 24 /*
backman 7:fd976e1ced33 25 * Scale from outputs to 0-100%.
backman 7:fd976e1ced33 26 * @param outMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 27 * @param outMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 28 */
backman 7:fd976e1ced33 29 void setOutputLimits(float outMin, float outMax);
backman 7:fd976e1ced33 30
backman 7:fd976e1ced33 31 /*
backman 7:fd976e1ced33 32 * Calculate PID constants.
backman 7:fd976e1ced33 33 * Allows parameters to be changed on the fly without ruining calculations.
backman 7:fd976e1ced33 34 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 35 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 36 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 37 */
backman 7:fd976e1ced33 38 void setTunings(float Kc, float tauI, float tauD);
backman 7:fd976e1ced33 39
backman 7:fd976e1ced33 40 /*
backman 7:fd976e1ced33 41 * Reinitializes controller internals. Automatically
backman 7:fd976e1ced33 42 * called on a manual to auto transition.
backman 7:fd976e1ced33 43 */
backman 7:fd976e1ced33 44 void reset(void);
backman 7:fd976e1ced33 45
backman 7:fd976e1ced33 46 /*
backman 7:fd976e1ced33 47 * Set how fast the PID loop is run.
backman 7:fd976e1ced33 48 * @param interval PID calculation peformed every interval seconds.
backman 7:fd976e1ced33 49 */
backman 7:fd976e1ced33 50 void setInterval(float interval);
backman 7:fd976e1ced33 51
backman 7:fd976e1ced33 52 /*
backman 7:fd976e1ced33 53 * Set the bias.
backman 7:fd976e1ced33 54 * @param bias The bias for the controller output.
backman 7:fd976e1ced33 55 */
backman 7:fd976e1ced33 56 void setBias(float bias);
backman 7:fd976e1ced33 57
backman 7:fd976e1ced33 58 /*
backman 7:fd976e1ced33 59 * PID calculation.
backman 7:fd976e1ced33 60 * @return The controller output as a float between outMin and outMax.
backman 7:fd976e1ced33 61 */
backman 7:fd976e1ced33 62 float compute(float pv, float sp);
backman 7:fd976e1ced33 63
backman 7:fd976e1ced33 64 //Getters.
backman 7:fd976e1ced33 65 float getInMin();
backman 7:fd976e1ced33 66 float getInMax();
backman 7:fd976e1ced33 67 float getOutMin();
backman 7:fd976e1ced33 68 float getOutMax();
backman 7:fd976e1ced33 69 float getInterval();
backman 7:fd976e1ced33 70 float getPParam();
backman 7:fd976e1ced33 71 float getIParam();
backman 7:fd976e1ced33 72 float getDParam();
backman 7:fd976e1ced33 73
backman 7:fd976e1ced33 74 private:
backman 7:fd976e1ced33 75
backman 7:fd976e1ced33 76 bool usingFeedForward;
backman 7:fd976e1ced33 77
backman 7:fd976e1ced33 78 //Actual tuning parameters used in PID calculation.
backman 7:fd976e1ced33 79 float Kc_;
backman 7:fd976e1ced33 80 float tauR_;
backman 7:fd976e1ced33 81 float tauD_;
backman 7:fd976e1ced33 82
backman 7:fd976e1ced33 83 //Raw tuning parameters.
backman 7:fd976e1ced33 84 float pParam_;
backman 7:fd976e1ced33 85 float iParam_;
backman 7:fd976e1ced33 86 float dParam_;
backman 7:fd976e1ced33 87
backman 7:fd976e1ced33 88 //The point we want to reach.
backman 7:fd976e1ced33 89 float setPoint_;
backman 7:fd976e1ced33 90 //The thing we measure.
backman 7:fd976e1ced33 91 float processVariable_;
backman 7:fd976e1ced33 92 float prevProcessVariable_;
backman 7:fd976e1ced33 93 //The output that affects the process variable.
backman 7:fd976e1ced33 94 float controllerOutput_;
backman 7:fd976e1ced33 95 float prevControllerOutput_;
backman 7:fd976e1ced33 96
backman 7:fd976e1ced33 97 //We work in % for calculations so these will scale from
backman 7:fd976e1ced33 98 //real world values to 0-100% and back again.
backman 7:fd976e1ced33 99 float inMin_;
backman 7:fd976e1ced33 100 float inMax_;
backman 7:fd976e1ced33 101 float inSpan_;
backman 7:fd976e1ced33 102 float outMin_;
backman 7:fd976e1ced33 103 float outMax_;
backman 7:fd976e1ced33 104 float outSpan_;
backman 7:fd976e1ced33 105
backman 7:fd976e1ced33 106 //The accumulated error, i.e. integral.
backman 7:fd976e1ced33 107 float accError_;
backman 7:fd976e1ced33 108 //The controller output bias.
backman 7:fd976e1ced33 109 float bias_;
backman 7:fd976e1ced33 110
backman 7:fd976e1ced33 111 //The interval between samples.
backman 7:fd976e1ced33 112 float tSample_;
backman 7:fd976e1ced33 113
backman 7:fd976e1ced33 114 //Controller output as a real world value.
backman 7:fd976e1ced33 115 volatile float realOutput_;
backman 7:fd976e1ced33 116
backman 7:fd976e1ced33 117 };