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Dependencies:   QEI mbed

pid.cpp@1:45f1f67eab62, 2015-12-02 (annotated)

Committer:
ahmedallibhoy
Date:
Wed Dec 02 16:47:26 2015 +0000
Revision:
1:45f1f67eab62
Child:
4:d59328f14363
updates;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahmedallibhoy 1:45f1f67eab62 1 #include "pid.h"
ahmedallibhoy 1:45f1f67eab62 2
ahmedallibhoy 1:45f1f67eab62 3 void PIDController::onLoop()
ahmedallibhoy 1:45f1f67eab62 4 {
ahmedallibhoy 1:45f1f67eab62 5 float error = (m_error)();
ahmedallibhoy 1:45f1f67eab62 6 (m_out)(m_Kp * error + m_Ki * iController(error) + m_Kd * dController(error));
ahmedallibhoy 1:45f1f67eab62 7 wait(m_dt);
ahmedallibhoy 1:45f1f67eab62 8 }
ahmedallibhoy 1:45f1f67eab62 9
ahmedallibhoy 1:45f1f67eab62 10 float PIDController::iController(float error)
ahmedallibhoy 1:45f1f67eab62 11 {
ahmedallibhoy 1:45f1f67eab62 12 m_integral += error;
ahmedallibhoy 1:45f1f67eab62 13 return m_integral;
ahmedallibhoy 1:45f1f67eab62 14 }
ahmedallibhoy 1:45f1f67eab62 15
ahmedallibhoy 1:45f1f67eab62 16 float PIDController::dController(float error)
ahmedallibhoy 1:45f1f67eab62 17 {
ahmedallibhoy 1:45f1f67eab62 18 float derivative = error - m_pError;
ahmedallibhoy 1:45f1f67eab62 19 m_pError = error;
ahmedallibhoy 1:45f1f67eab62 20 return derivative;
ahmedallibhoy 1:45f1f67eab62 21 }
ahmedallibhoy 1:45f1f67eab62 22
ahmedallibhoy 1:45f1f67eab62 23 void PIDController::reset()
ahmedallibhoy 1:45f1f67eab62 24 {
ahmedallibhoy 1:45f1f67eab62 25 m_integral = 0;
ahmedallibhoy 1:45f1f67eab62 26 }