Diff: PID.h

Revision:

0:7afdddad09e6

Child:

1:0a55ccb22a4e

diff -r 000000000000 -r 7afdddad09e6 PID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Wed Aug 19 06:18:07 2015 +0000
@@ -0,0 +1,51 @@
+#ifndef PID_H
+#define PID_H
+
+//This is an attempt at a custom PID for thrusters on an submarine.
+
+//This program was made with this reference - https://en.wikipedia.org/wiki/PID_controller
+//And this reference https://github.com/br3ttb/Arduino-PID-Library
+//And this reference http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
+
+//I didn't want to just use the pre-build library because I want to understand what a PID is and how to use it.
+//Plus I've had problems with code I didn't write myself before.
+
+//Things to implement-
+//                    automatic kp, ki, kd adjustment
+//                    IMU reference input from MPU-6050
+//                    Thruster adjustments (figure out how to implement PID values to the thruster)
+
+class pid{
+
+  public:
+          pid();
+          pid(double p, double i, double d, double desired, int minval, int maxval);
+          double PIDoutput();
+          void getReference(double ref);
+          void updateDesired(double desired);
+          double getref_IMU();
+          
+          double ref_IMU;
+          float ref_IMUf;
+
+  private:
+          void setLimit(int minval, int maxval);
+          void sampleTime(unsigned long sample);
+          void setPIDTune(double kp, double ki, double kd);
+          
+
+          double kp;
+          double ki;
+          double kd;
+          double kiTemp;
+          double lastInput;
+
+
+          int minv;
+          int maxv;
+          
+          double setPoint;
+          //tbd
+  
+};
+#endif
\ No newline at end of file