kao yi / Mbed 2 deprecated BX-car

running car

Dependencies:   mbed mbed-rtos

Fork of Boboobooo by kao yi

controller.h@7:fd976e1ced33, 2014-06-22 (annotated)

Committer:
backman
Date:
Sun Jun 22 13:58:01 2014 +0000
Revision:
7:fd976e1ced33
Child:
8:8e49e21d80a2
printf should use right type

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 7:fd976e1ced33 1 #include "mbed.h"
backman 7:fd976e1ced33 2
backman 7:fd976e1ced33 3
backman 7:fd976e1ced33 4
backman 7:fd976e1ced33 5 class PID
backman 7:fd976e1ced33 6 {
backman 7:fd976e1ced33 7 public:
backman 7:fd976e1ced33 8
backman 7:fd976e1ced33 9 /*
backman 7:fd976e1ced33 10 * Constructeur
backman 7:fd976e1ced33 11 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
backman 7:fd976e1ced33 12 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 13 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 14 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 15 * @param interval PID calculation performed every interval seconds.
backman 7:fd976e1ced33 16 */
backman 7:fd976e1ced33 17 PID(float Kc, float tauI, float tauD, float interval);
backman 7:fd976e1ced33 18
backman 7:fd976e1ced33 19 /*
backman 7:fd976e1ced33 20 * Scale from inputs to 0-100%.
backman 7:fd976e1ced33 21 * @param InMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 22 * @param InMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 23 */
backman 7:fd976e1ced33 24 void setInputLimits(float inMin, float inMax);
backman 7:fd976e1ced33 25
backman 7:fd976e1ced33 26 /*
backman 7:fd976e1ced33 27 * Scale from outputs to 0-100%.
backman 7:fd976e1ced33 28 * @param outMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 29 * @param outMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 30 */
backman 7:fd976e1ced33 31 void setOutputLimits(float outMin, float outMax);
backman 7:fd976e1ced33 32
backman 7:fd976e1ced33 33 /*
backman 7:fd976e1ced33 34 * Calculate PID constants.
backman 7:fd976e1ced33 35 * Allows parameters to be changed on the fly without ruining calculations.
backman 7:fd976e1ced33 36 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 37 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 38 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 39 */
backman 7:fd976e1ced33 40 void setTunings(float Kc, float tauI, float tauD);
backman 7:fd976e1ced33 41
backman 7:fd976e1ced33 42 /*
backman 7:fd976e1ced33 43 * Reinitializes controller internals. Automatically
backman 7:fd976e1ced33 44 * called on a manual to auto transition.
backman 7:fd976e1ced33 45 */
backman 7:fd976e1ced33 46 void reset(void);
backman 7:fd976e1ced33 47
backman 7:fd976e1ced33 48 /*
backman 7:fd976e1ced33 49 * Set how fast the PID loop is run.
backman 7:fd976e1ced33 50 * @param interval PID calculation peformed every interval seconds.
backman 7:fd976e1ced33 51 */
backman 7:fd976e1ced33 52 void setInterval(float interval);
backman 7:fd976e1ced33 53
backman 7:fd976e1ced33 54 /*
backman 7:fd976e1ced33 55 * Set the bias.
backman 7:fd976e1ced33 56 * @param bias The bias for the controller output.
backman 7:fd976e1ced33 57 */
backman 7:fd976e1ced33 58 void setBias(float bias);
backman 7:fd976e1ced33 59
backman 7:fd976e1ced33 60 /*
backman 7:fd976e1ced33 61 * PID calculation.
backman 7:fd976e1ced33 62 * @return The controller output as a float between outMin and outMax.
backman 7:fd976e1ced33 63 */
backman 7:fd976e1ced33 64 float compute(float pv, float sp);
backman 7:fd976e1ced33 65
backman 7:fd976e1ced33 66 //Getters.
backman 7:fd976e1ced33 67 float getInMin();
backman 7:fd976e1ced33 68 float getInMax();
backman 7:fd976e1ced33 69 float getOutMin();
backman 7:fd976e1ced33 70 float getOutMax();
backman 7:fd976e1ced33 71 float getInterval();
backman 7:fd976e1ced33 72 float getPParam();
backman 7:fd976e1ced33 73 float getIParam();
backman 7:fd976e1ced33 74 float getDParam();
backman 7:fd976e1ced33 75
backman 7:fd976e1ced33 76 private:
backman 7:fd976e1ced33 77
backman 7:fd976e1ced33 78 bool usingFeedForward;
backman 7:fd976e1ced33 79
backman 7:fd976e1ced33 80 //Actual tuning parameters used in PID calculation.
backman 7:fd976e1ced33 81 float Kc_;
backman 7:fd976e1ced33 82 float tauR_;
backman 7:fd976e1ced33 83 float tauD_;
backman 7:fd976e1ced33 84
backman 7:fd976e1ced33 85 //Raw tuning parameters.
backman 7:fd976e1ced33 86 float pParam_;
backman 7:fd976e1ced33 87 float iParam_;
backman 7:fd976e1ced33 88 float dParam_;
backman 7:fd976e1ced33 89
backman 7:fd976e1ced33 90 //The point we want to reach.
backman 7:fd976e1ced33 91 float setPoint_;
backman 7:fd976e1ced33 92 //The thing we measure.
backman 7:fd976e1ced33 93 float processVariable_;
backman 7:fd976e1ced33 94 float prevProcessVariable_;
backman 7:fd976e1ced33 95 //The output that affects the process variable.
backman 7:fd976e1ced33 96 float controllerOutput_;
backman 7:fd976e1ced33 97 float prevControllerOutput_;
backman 7:fd976e1ced33 98
backman 7:fd976e1ced33 99 //We work in % for calculations so these will scale from
backman 7:fd976e1ced33 100 //real world values to 0-100% and back again.
backman 7:fd976e1ced33 101 float inMin_;
backman 7:fd976e1ced33 102 float inMax_;
backman 7:fd976e1ced33 103 float inSpan_;
backman 7:fd976e1ced33 104 float outMin_;
backman 7:fd976e1ced33 105 float outMax_;
backman 7:fd976e1ced33 106 float outSpan_;
backman 7:fd976e1ced33 107
backman 7:fd976e1ced33 108 //The accumulated error, i.e. integral.
backman 7:fd976e1ced33 109 float accError_;
backman 7:fd976e1ced33 110 //The controller output bias.
backman 7:fd976e1ced33 111 float bias_;
backman 7:fd976e1ced33 112
backman 7:fd976e1ced33 113 //The interval between samples.
backman 7:fd976e1ced33 114 float tSample_;
backman 7:fd976e1ced33 115
backman 7:fd976e1ced33 116 //Controller output as a real world value.
backman 7:fd976e1ced33 117 volatile float realOutput_;
backman 7:fd976e1ced33 118
backman 7:fd976e1ced33 119 };