Chun Feng Huang / PID_modified

PID modified by C.-F. Huang

Fork of PID by LDSC_Robotics_TAs

PID.h@7:52f66036f628, 2016-12-24 (annotated)

Committer:
benson516
Date:
Sat Dec 24 09:51:00 2016 +0000
Revision:
7:52f66036f628
Parent:
4:e3c9cb64be44 
Add the reset function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
weisnail 0:7f9b4ca968ae 1 #ifndef PID_H
weisnail 0:7f9b4ca968ae 2 #define PID_H
weisnail 0:7f9b4ca968ae 3
weisnail 0:7f9b4ca968ae 4 #include "mbed.h"
weisnail 0:7f9b4ca968ae 5
weisnail 0:7f9b4ca968ae 6 class PID{
weisnail 0:7f9b4ca968ae 7 public:
weisnail 0:7f9b4ca968ae 8
benson516 7:52f66036f628 9 PID(float Kp_in, float Ki_in, float Kd_in, float Sampletime_in);
benson516 2:b9610a2d2ea0 10 void Compute(float reference_in, float feedbackvalue_in);
benson516 7:52f66036f628 11 void Reset(void);
benson516 7:52f66036f628 12 //
benson516 4:e3c9cb64be44 13 void Compute_noWindUP(float reference_in, float feedbackvalue_in);
benson516 7:52f66036f628 14 // Method 1: Separated operation for anti-windup
benson516 4:e3c9cb64be44 15 void Saturation_output();
benson516 4:e3c9cb64be44 16 void Anti_windup(float delta); // delta_V = Vs - V
benson516 7:52f66036f628 17 // Method 2: Single anti-windup operation
benson516 7:52f66036f628 18 void Anti_windup();
benson516 4:e3c9cb64be44 19 //
benson516 7:52f66036f628 20
weisnail 0:7f9b4ca968ae 21 void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
benson516 7:52f66036f628 22 void SetInputLimits(float setinputLimits_H, float setinputLimits_L);
benson516 7:52f66036f628 23 void EnableAntiWindUp(float Ka_in);
benson516 7:52f66036f628 24
weisnail 0:7f9b4ca968ae 25 float Kp;
weisnail 0:7f9b4ca968ae 26 float Ki;
weisnail 0:7f9b4ca968ae 27 float Kd;
adam_z 1:4df4895863cd 28 float Ka;
benson516 7:52f66036f628 29
benson516 2:b9610a2d2ea0 30 float error[2];
benson516 2:b9610a2d2ea0 31 double error_I;
benson516 7:52f66036f628 32
weisnail 0:7f9b4ca968ae 33 float output;
weisnail 0:7f9b4ca968ae 34 float reference;
benson516 4:e3c9cb64be44 35 float delta_output; // Error by saturating
benson516 7:52f66036f628 36
benson516 2:b9610a2d2ea0 37 float Ts;
weisnail 0:7f9b4ca968ae 38
weisnail 0:7f9b4ca968ae 39 private:
benson516 7:52f66036f628 40
weisnail 0:7f9b4ca968ae 41 bool Outputlimit_bool;
weisnail 0:7f9b4ca968ae 42 bool Inputlimit_bool;
adam_z 1:4df4895863cd 43 bool AntiWindUp_bool;
benson516 7:52f66036f628 44
weisnail 0:7f9b4ca968ae 45 float outputLimits_H;
weisnail 0:7f9b4ca968ae 46 float outputLimits_L;
weisnail 0:7f9b4ca968ae 47 float inputLimits_H;
weisnail 0:7f9b4ca968ae 48 float inputLimits_L;
benson516 7:52f66036f628 49
weisnail 0:7f9b4ca968ae 50 float feedbackvalue;
weisnail 0:7f9b4ca968ae 51 // Ticker PID_timer;
weisnail 0:7f9b4ca968ae 52
weisnail 0:7f9b4ca968ae 53 };
weisnail 0:7f9b4ca968ae 54
benson516 7:52f66036f628 55 #endif /* PID_H*/