Yuta Togashi / PID

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Dependents:   Tourobo2022_TBCMotorDriver

Diff: Pid.cpp

Revision:
4:3c2651359136
Parent:
2:7fede27af6ca
Child:
5:a3aa705d9023
--- a/Pid.cpp	Tue Sep 10 13:55:06 2019 +0000
+++ b/Pid.cpp	Sat Jan 11 12:47:02 2020 +0000
@@ -6,9 +6,16 @@
     KD = Kd;
     MODE = PidMode;
     PERIOD = period;
+    upperLimit = 1.0f;
+    fallLimit = 1.0f;
     //pid.attach(this,&Pid::calculate,period);
 }
 
+void Pid::setupLimit(float UpperLimit,float FallLimit) {
+    upperLimit = UpperLimit;
+    fallLimit = FallLimit;
+}
+
 void Pid::calculate(float targetValue,float nowValue,bool enableErrorIntegration) {
     switch(MODE) {
         case 0:
@@ -35,10 +42,10 @@
             break;
     }
     
-    if(duty > 1.0f) {
-        duty = 1.0f;
-    } else if (duty < -1.0f) {
-        duty = -1.0f;
+    if(duty > upperLimit) {
+        duty = upperLimit;
+    } else if (duty < fallLimit) {
+        duty = fallLimit;
     }
 };