Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: context.cpp
- Revision:
- 26:d00561c7bf43
- Parent:
- 25:0003b824dd7d
- Child:
- 29:cb03760ba9ea
--- a/context.cpp Tue Mar 10 17:47:08 2015 +0000 +++ b/context.cpp Tue Mar 10 17:51:38 2015 +0000 @@ -28,12 +28,21 @@ _filter_strength = filter_strength; } -void Context::ConfigurePidControllers(float ki, float kp, float kd, float pidmax, float pidmin) { - _ki = ki; - _kp = kp; - _kd = kd; - _pidmax = pidmax; - _pidmin = pidmin; +void Context::ConfigureIdPidController(float ki, float kp, float kd, float pidmax, float pidmin) { + _dki = ki; + _dkp = kp; + _dkd = kd; + _dpidmax = pidmax; + _dpidmin = pidmin; +} + + +void Context::ConfigureIqPidController(float ki, float kp, float kd, float pidmax, float pidmin) { + _qki = ki; + _qkp = kp; + _qkd = kd; + _qpidmax = pidmax; + _qpidmin = pidmin; } void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) { @@ -89,8 +98,8 @@ sense_t_motor = new TempSensor(); sense_t_inverter = new TempSensor(); - pid_d = new PidController(_ki, _kp, _kd, _pidmax, _pidmin); - pid_q = new PidController(_ki, _kp, _kd, _pidmax, _pidmin); + pid_d = new PidController(_dki, _dkp, _dkd, _dpidmax, _dpidmin); + pid_q = new PidController(_qki, _qkp, _qkd, _qpidmax, _qpidmin); motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor); inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter);