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mit
Diff: PID.h
- Revision:
- 3:cae0b305d54c
- Parent:
- 2:89bb6272869b
diff -r 89bb6272869b -r cae0b305d54c PID.h --- a/PID.h Fri Jun 28 19:03:06 2013 +0000 +++ b/PID.h Fri Jul 12 00:13:37 2013 +0000 @@ -8,21 +8,41 @@ class PIDController{ public: -PIDController(float desired_position, float p_gain, float d_gain, float i_gain); +PIDController(float desired_position, float desired_torque, float p_gainp, float d_gainp, float i_gain_p, float p_gain_c, float i_gain_c); ~PIDController(); float goal_position; +float current_position; -float kp; -float kd; -float ki; +float kp_p; +float kd_p; +float ki_p; + +float kp_c; +float ki_c; +float c_error; +float error_sum; +float command; +float torque_command; +float c_torque; float error; float old_error; float integral_error; -float Update(void); + +int counter; + +Timer timer; +float torque; +float direction; + +float past_currents [5]; + +float command_position(void); +float command_torque(void); +float command_position_tm(void); private: