Diff: pid_dagoz/PID.cpp

Revision:

0:aa8e05bc0533

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid_dagoz/PID.cpp	Thu Feb 27 12:40:03 2020 +0000
@@ -0,0 +1,68 @@
+/*
+ *  Author      : Dagozilla ITB
+ *  Developer   : Dagozilla ITB
+ *  Reference   : https://www.scilab.org/discrete-time-pid-controller-implementation
+ */
+
+#include "PID.h"
+
+
+PID :: PID(float p , float i , float d , float _N , float _Ts, float _FF, Mode _mode)
+{
+
+    N = _N ; 
+    Ts = _Ts ;
+    FF = _FF;
+    mode = _mode;
+
+    setTunings(p, i, d);
+
+    ku1 = a1/a0;
+    ku2 = a2/a0;
+    ke0 = b0/a0;
+    ke1 = b1/a0;
+    ke2 = b2/a0;
+}
+
+float PID::createpwm( float setpoint , float feedback )
+{
+    e2 = e1 ;
+    e1 = e0 ;
+    u2 = u1 ;
+    u1 = u0 ;
+    e0 = setpoint-feedback;
+    u0 = - (ku1 * u1 )  - ( ku2*u2 )  + ke0*e0 + ke1*e1 + ke2*e2 + FF*setpoint;
+
+    if (u0 >= 1)
+    {
+        u0 = 1 ;
+    }
+    else if (u0 <= -1)
+    {
+        u0 = -1;
+    }
+    return u0 ;   
+}
+
+void PID::setTunings(float p, float i, float d){
+    
+    Kp = p ; Kd = d ; Ki = i ;
+    
+    if(mode == PID_MODE){
+        a0 = (1+N*Ts);
+        a1 = -(2 + N*Ts);
+        a2 = 1;
+        b0 = Kp*(1+N*Ts) + Ki*Ts*(1+N*Ts) + Kd*N;
+        b1 = -(Kp*(2+N*Ts) + Ki*Ts + 2*Kd*N);
+        b2 = Kp + Kd*N;
+
+    }
+    else if(mode == PI_MODE){
+        a0 = 1;
+        a1 = -1;
+        a2 = 0;
+        b0 = Kp + Ki*Ts;
+        b1 = -Kp;
+        b2 = 0;
+    }
+}
\ No newline at end of file