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Dependencies:   mbed Eigen

shared/PID_Control/PI_D/PI_D.cpp@0:ee7e9405e1c7, 2021-04-14 (annotated)

Committer:
e2011220
Date:
Wed Apr 14 07:26:19 2021 +0000
Revision:
0:ee7e9405e1c7
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
e2011220 0:ee7e9405e1c7 1 #include "PI_D.h"
e2011220 0:ee7e9405e1c7 2
e2011220 0:ee7e9405e1c7 3 double PI_D::_get_control()
e2011220 0:ee7e9405e1c7 4 {
e2011220 0:ee7e9405e1c7 5 return PID::_pid_state.k * (_p + _i - _d);
e2011220 0:ee7e9405e1c7 6 }
e2011220 0:ee7e9405e1c7 7 void PI_D::_calc_p()
e2011220 0:ee7e9405e1c7 8 {
e2011220 0:ee7e9405e1c7 9 _update(_diff, PID::_pid_state.target - PID::_pid_state.current);
e2011220 0:ee7e9405e1c7 10 _update(_measure, PID::_pid_state.target);
e2011220 0:ee7e9405e1c7 11 _p = _diff[1];
e2011220 0:ee7e9405e1c7 12 }
e2011220 0:ee7e9405e1c7 13 void PI_D::_calc_i()
e2011220 0:ee7e9405e1c7 14 {
e2011220 0:ee7e9405e1c7 15 _integral += (_diff[0] + _diff[1]) / 2;
e2011220 0:ee7e9405e1c7 16 _i = _integral;
e2011220 0:ee7e9405e1c7 17 }
e2011220 0:ee7e9405e1c7 18 void PI_D::_calc_d()
e2011220 0:ee7e9405e1c7 19 {
e2011220 0:ee7e9405e1c7 20 _d = _measure[1] - _measure[0];
e2011220 0:ee7e9405e1c7 21 }
e2011220 0:ee7e9405e1c7 22 void PI_D::_reset()
e2011220 0:ee7e9405e1c7 23 {
e2011220 0:ee7e9405e1c7 24 _p = _i = _d = 0;
e2011220 0:ee7e9405e1c7 25 _diff[0] = _diff[1] = 0;
e2011220 0:ee7e9405e1c7 26 _integral = 0;
e2011220 0:ee7e9405e1c7 27 _measure[0] = _measure[1] = 0;
e2011220 0:ee7e9405e1c7 28 }