Revision 11:8faa068940f1, committed 2015-12-05

Comitter:

jasonliujc

Date:

Sat Dec 05 02:07:16 2015 +0000

Parent:

10:332a4ad5911d

Commit message:

parameters to be adjusted!

Changed in this revision

--- a/main.cpp	Sat Dec 05 00:41:23 2015 +0000
+++ b/main.cpp	Sat Dec 05 02:07:16 2015 +0000
@@ -54,7 +54,7 @@
     Systicker.attach_us(&systick,1000);
     
     //loop();
-    
+   // pc.printf("test\n");
     
     
     return 0;

--- a/pid.cpp	Sat Dec 05 00:41:23 2015 +0000
+++ b/pid.cpp	Sat Dec 05 02:07:16 2015 +0000
@@ -1,29 +1,3 @@
-//#include "pid.h"
-//
-//void PIDController::onLoop()
-//{
-//    float error = (m_error)();
-//    (m_out)(m_Kp * error + m_Ki * iController(error) + m_Kd * dController(error));
-//    wait(m_dt);
-//}
-//
-//float PIDController::iController(float error)
-//{
-//    m_integral += error;
-//    return m_integral;
-//}
-//
-//float PIDController::dController(float error)
-//{
-//    float derivative = error - m_pError;
-//    m_pError = error;
-//    return derivative; 
-//}
-//
-//void PIDController::reset()
-//{
-//    m_integral = 0;
-//}
 
 
 #include "pid.h"
@@ -133,4 +107,31 @@
 float ctrl::getR(){
     return RErr;
     
-    }
\ No newline at end of file
+    }
+    
+//#include "pid.h"
+//
+//void PIDController::onLoop()
+//{
+//    float error = (m_error)();
+//    (m_out)(m_Kp * error + m_Ki * iController(error) + m_Kd * dController(error));
+//    wait(m_dt);
+//}
+//
+//float PIDController::iController(float error)
+//{
+//    m_integral += error;
+//    return m_integral;
+//}
+//
+//float PIDController::dController(float error)
+//{
+//    float derivative = error - m_pError;
+//    m_pError = error;
+//    return derivative; 
+//}
+//
+//void PIDController::reset()
+//{
+//    m_integral = 0;
+//}

--- a/pid.h	Sat Dec 05 00:41:23 2015 +0000
+++ b/pid.h	Sat Dec 05 02:07:16 2015 +0000
@@ -1,38 +1,3 @@
-//#ifndef PID_H
-//#define PID_H
-//
-//#include "mbed.h"
-//
-//class PIDController
-//{
-//public:
-//    PIDController(void (*output)(float), float (*error)(void), 
-//        float Kp, float Ki, float Kd, 
-//        float dt = .1) :
-//        m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), 
-//        m_dt(dt), m_integral(0), m_pError(0)
-//    {
-//        m_out = output;
-//        m_error = error;
-//    };
-//    
-//    void onLoop();  
-//    void reset();  
-//private:
-//    float iController(float error);
-//    float dController(float error);
-//
-//    float m_integral;
-//    float m_pError;
-//    
-//    float m_dt;
-//
-//    float m_Kp, m_Ki, m_Kd;
-//    void (*m_out)(float);
-//    float (*m_error)(void);
-//};
-//
-//
 
 
 #ifndef PID_H
@@ -95,3 +60,41 @@
 };
 
 #endif //PID_H
+
+
+//#ifndef PID_H
+//#define PID_H
+//
+//#include "mbed.h"
+//
+//class PIDController
+//{
+//public:
+//    PIDController(void (*output)(float), float (*error)(void), 
+//        float Kp, float Ki, float Kd, 
+//        float dt = .1) :
+//        m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), 
+//        m_dt(dt), m_integral(0), m_pError(0)
+//    {
+//        m_out = output;
+//        m_error = error;
+//    };
+//    
+//    void onLoop();  
+//    void reset();  
+//private:
+//    float iController(float error);
+//    float dController(float error);
+//
+//    float m_integral;
+//    float m_pError;
+//    
+//    float m_dt;
+//
+//    float m_Kp, m_Ki, m_Kd;
+//    void (*m_out)(float);
+//    float (*m_error)(void);
+//};
+//
+//
+