Takeuchi Issei
/
4Omunisleeve3
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Diff: shared/PID_Control/VPID/VPID.cpp
- Revision:
- 0:ee7e9405e1c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/PID_Control/VPID/VPID.cpp Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,30 @@
+#include "VPID.h"
+
+double VPID::_get_control()
+{
+ return _ctrl;
+}
+void VPID::_calc_p()
+{
+ _update(_diff, PID::_pid_state.target - PID::_pid_state.current);
+ _p = _diff[1];
+ _update(_dctrl, PID::_pid_state.k * (_p + _i + _d));
+ _ctrl += (_dctrl[1] - _dctrl[0]) / _tim.read();
+ _tim.reset();
+}
+void VPID::_calc_i()
+{
+ _integral += (_diff[0] + _diff[1]) / 2;
+ _i = _integral;
+}
+void VPID::_calc_d()
+{
+ _d = _diff[1] - _diff[0];
+}
+void VPID::_reset()
+{
+ _p = _i = _d = 0;
+ _diff[0] = _diff[1] = 0;
+ _integral = 0;
+ _ctrl = _dctrl[0] = _dctrl[1] = 0;
+}