Wataru Nakata / heading hold

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Files at this revision

API Documentation at this revision

Revision 0:2396598427bf, committed 2017-12-07

Comitter:
WAT34
Date:
Thu Dec 07 00:54:11 2017 +0900
Commit message:
initial commit

Changed in this revision

headingHold.cpp Show annotated file Show diff for this revision Revisions of this file
headingHold.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 2396598427bf headingHold.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/headingHold.cpp	Thu Dec 07 00:54:11 2017 +0900
@@ -0,0 +1,57 @@
+#include "headingHold.h"
+
+
+headingHold::headingHold(double p,double i,double d) :
+ headingPID(p,i,d,0.01)
+{
+  headingPID.setInputLimits(-180,180);
+  headingPID.setOutputLimits(-1,1);
+  headingPID.setBias(0.0);
+  headingPID.setMode(AUTO_MODE);
+  targetHeading = 0;
+  holding = false;
+}
+
+bool headingHold::setHeadingHold(const bool& hold)
+{
+  if(holding == false)
+  {
+    targetHeading = currentHeading;
+  }
+  if(holding == hold)
+    return true;
+  holding = hold;
+  if(holding)
+  {
+    headingPID.reset();
+  }
+  return 0;
+}
+bool headingHold::setCurrentHeading(const double& heading){
+  if (fabs(heading) >180)
+  {
+    return 1;
+  }
+  currentHeading = heading;
+  return 0;
+}
+
+bool headingHold::setTargetHeading(const double& target)
+{
+  if (fabs(target) >180)
+  {
+    return 1;
+  }
+  targetHeading = target;
+  return 0;
+}
+
+double headingHold::getOutput()
+{
+  double error = targetHeading-currentHeading;
+  if(error < -180.0) error += 360;
+  else if(error > 180.0) error -= 360;
+
+  headingPID.setProcessValue(error);
+  return headingPID.compute();
+}

diff -r 000000000000 -r 2396598427bf headingHold.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/headingHold.h	Thu Dec 07 00:54:11 2017 +0900
@@ -0,0 +1,23 @@
+#ifndef HEADING_HOLD_H
+#define HEADING_HOLD_H
+#include "mbed.h"
+#include "PID.h"
+
+class headingHold {
+private:
+  bool holding;
+  float currentHeading;
+  float targetHeading;
+  PID headingPID;
+
+public:
+  headingHold (double p,double i,double d);
+  bool setHeadingHold(const bool& hold);
+  bool setCurrentHeading(const double& heading);
+  bool setTargetHeading(const double& target);
+  double getOutput();
+
+};
+
+
+#endif /* end of include guard: HEADING_HOLD_H */