Revision 6:99403113343f, committed 2018-05-07

Comitter:

batchee7

Date:

Mon May 07 05:15:19 2018 +0000

Parent:

5:1206105e20bd

Commit message:

InitialRelease

Changed in this revision

diff -r 1206105e20bd -r 99403113343f PidController.cpp
--- a/PidController.cpp	Tue Oct 31 03:46:43 2017 +0000
+++ b/PidController.cpp	Mon May 07 05:15:19 2018 +0000
@@ -1,37 +1,42 @@
 #include "mbed.h"
 #include "PidController.h"
 
-PidController::PidController(char c){
+PidController::PidController(){
     elapsedTime =0;
     mode = MANUAL;
-    diagChar = c;
     }
     
-float PidController::Calculate(float SP, float PV, float ManualMV) 
+float PidController::Calculate(float SP, float PV) 
     {
         float CV;                   //(mm/s) Control Variable
+        float ProportionalAction;
         float IntegralAction;       // Integral Contribution to Output
         float DerivativeAction;     // Derivative Contribution to Output
     
         if (mode == MANUAL)
         {   
-            CV = ManualMV;      //Write Manual Manipulated Variable
+            CV = SP;                    //Write Directly to Output
             accumError = 0;
             prevError = 0;
         }
         else 
         {   
             //Calc error
-            error = SP - PV;  
+            error = SP - PV; 
+            ProportionalAction =  K_p*error ;
             IntegralAction = K_i*(accumError + error);
-            //DerivativeAction = K_d*(PV - lastInput);
             DerivativeAction = K_d*(error - prevError);
             
             //-- PID Calculation
             if (SP)
             { 
-                CV =  bias + K_p*error + IntegralAction + DerivativeAction;
+                CV =  bias + ProportionalAction + IntegralAction + DerivativeAction;
                 if (CV>0) {CV = sqrt(CV);}
+                else if (CV<0)
+                {
+                    CV = sqrt(CV*-1.0);
+                    CV = CV*-1.0;
+                    }
             }
             else 
             {
@@ -40,23 +45,27 @@
             }
             
             //-- Only allow the Controller to integrate if the output isnt saturated
-            if ((CV < maxLimit) || (CV > minLimit))
-            {
-                accumError += error;
-                }
+            if ((CV < maxLimit) || (CV > minLimit)){accumError += error;}
 
             //-- Save Current Input for Next Loop
-            //lastInput = PV;  
             prevError = error;
-            
-            //Check to See Output is Within Limits
-            if (CV > maxLimit){CV= maxLimit;}
-            if (CV < minLimit){CV= minLimit;}
         }
+        
+        //Check to See Output is Within Limits
+        if (CV > maxLimit){CV= maxLimit;}
+        if (CV < minLimit){CV= minLimit;}
            
-        
         //-- Make message to send to GUI
-        if (collectDiagnostics){BuildDiagMessage(SP,PV, CV, K_p*error, IntegralAction, DerivativeAction);}
+        if (collectDiagnostics)//{BuildDiagMessage(SP,PV, CV, K_p*error, IntegralAction, DerivativeAction);}
+        {
+            int_to_byte(diagMsg, elapsedTime);
+            float_to_byte(diagMsg +2, &SP);
+            float_to_byte(diagMsg +6, &PV);
+            float_to_byte(diagMsg +10, &CV);
+            float_to_byte(diagMsg +14, &ProportionalAction);
+            float_to_byte(diagMsg +18, &IntegralAction);
+            float_to_byte(diagMsg +22, &DerivativeAction);
+            }
         
         return CV;
     }
@@ -89,10 +98,18 @@
     return;
     }
 
-void PidController::BuildDiagMessage(float SetPoint, float ProcessVar, float PWM, float PropAction, float IntAction, float DifAction){
-    //sprintf(diagMsg, "%c %d %0.4f %0.4f %0.1f %0.4f %0.4f %0.4f\n", diagChar, elapsedTime, SetPoint, ProcessVar, PWM, PropAction, IntAction, DifAction);
-    sprintf(diagMsg, "%c %d %0.4f %0.4f %0.1f 0.0 0.0 0.0\n", diagChar, elapsedTime, SetPoint, ProcessVar, PWM); 
-    elapsedTime += RATE;
+void PidController::GetDiagnosticsMessage(char *data){
+    memcpy(data, &diagMsg, 27 );
     return;
     }
+//-- Helper Functions
+    
+//-- Convert floating point to byte array
+void PidController::float_to_byte(char *data, float *val) {
+      memcpy(data, val, sizeof(float)); 
+}
 
+//-- Convert integer to byte array
+void PidController::int_to_byte(char *data, uint16_t val) {
+      memcpy(data, &val, sizeof val); 
+}

diff -r 1206105e20bd -r 99403113343f PidController.h
--- a/PidController.h	Tue Oct 31 03:46:43 2017 +0000
+++ b/PidController.h	Mon May 07 05:15:19 2018 +0000
@@ -28,22 +28,14 @@
  * 
  * 
  *     
- 
- * @code
-#include "mbed.h"
-#include "PID.h"
-
- * @endcode
  */
 
-
-
 #ifndef PidController_H
 #define PidController_H
 #include "mbed.h"
 
 //-- Constants used in system
-const int RATE = 20;       //--(ms) Time that Calculate mehtod is being called       
+const int RATE = 100;        //--(ms) Time that Calculate mehtod is being called       
 const int AUTOMATIC = 0;    //-- In automatic then PID Controls Output
 const int MANUAL = 1;       //-- In Manual then User Controls Output directly
 
@@ -53,17 +45,15 @@
     public:
         // Public Methods
     
-        /** Constructor
-        *
-        */
-        PidController(char);
+        // Constructor
+        PidController();
         
         /** Performs the PID Calculation
         * @param SP - Setpoint (target value) units depends on what PID is controlling
         * @param PV - Process Variable (feedback/ measure value) units depends on what PID is controlling
-        * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP multipled by scalar.
+        * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP.
         */
-        float Calculate(float SP, float PV, float ManualMV);
+        float Calculate(float SP, float PV);
         
         /** Update Internal Settings
         * @param Bias - Added to the PID Calculation
@@ -103,37 +93,37 @@
         */
         void EndDiag(void);
         
-        /** Build a string to send back to HMI to Graph PID
-        */
-        void BuildDiagMessage(float SP, float PV, float PWM, float PropAction, float IntAction, float DifAction);
-        
         /** Check to see if the controller is collecting diagnostics data
         * @return true then a diagnostics message is been created.
         */
         bool DiagnosticsEnabled(void){return collectDiagnostics;}
         
-        int GetElapsedtime(void){return elapsedTime;}
-        
-        // Made Public as im lazy
-        char diagMsg[65];
+        /** Check to see if the controller is collecting diagnostics data
+        * @param Data - Starting address of target recieve buffer (must be at least 25char long)
+        */
+        void GetDiagnosticsMessage(char *data);
         
     private:
         bool mode;
-        
         //-- For Diagnostics to GUI
         bool collectDiagnostics;
-        int elapsedTime;
+        uint16_t elapsedTime;
+        char diagMsg[28];
+        
+        //-- Settings
+        float bias;
+        float minLimit, maxLimit;
+        float K_p,K_i,K_d;
         
         //-- For PID Calculations
-        char diagChar;
-        float bias;
         float error;
-        float lastInput;
         float accumError;
-        float minLimit, maxLimit;
-        float K_p,K_i,K_d;
         float prevError;
-    };
+        
+        //-- Private Helper functions
+        void float_to_byte(char *data, float *val);
+        void int_to_byte(char *data, uint16_t val);
+        };
     
 #endif