Calvin Kalintra / pid

PID

Dependents:   balance_all

PID.cpp@0:3d03a93d9671, 2018-05-16 (annotated)

Committer:
ckalintra
Date:
Wed May 16 10:27:33 2018 +0000
Revision:
0:3d03a93d9671
PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ckalintra 0:3d03a93d9671 1 #include "PID.h"
ckalintra 0:3d03a93d9671 2 #define Kp 0.1
ckalintra 0:3d03a93d9671 3 #define Ki 0.00001
ckalintra 0:3d03a93d9671 4
ckalintra 0:3d03a93d9671 5 void PID::control(float x, float *output, float time, float integral)
ckalintra 0:3d03a93d9671 6 {
ckalintra 0:3d03a93d9671 7 float error = - x;
ckalintra 0:3d03a93d9671 8 float Pout = Kp * error;//multiply the error with kp to get P output
ckalintra 0:3d03a93d9671 9
ckalintra 0:3d03a93d9671 10 integral += error * time;//integral adds the previous error + the error now * time the error presist
ckalintra 0:3d03a93d9671 11
ckalintra 0:3d03a93d9671 12 float Iout = Ki * integral;//multiply by Ki
ckalintra 0:3d03a93d9671 13 output[0] = Pout + Iout;
ckalintra 0:3d03a93d9671 14 if( output[0] > 1 )//limit the output
ckalintra 0:3d03a93d9671 15 {output[0] = 1;}
ckalintra 0:3d03a93d9671 16 else if( output[0] < -1 )
ckalintra 0:3d03a93d9671 17 {output[0] = -1;}
ckalintra 0:3d03a93d9671 18 }