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Dependencies:   mbed Eigen

shared/PID_Control/VPID/VPID.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 "VPID.h"
e2011220 0:ee7e9405e1c7 2
e2011220 0:ee7e9405e1c7 3 double VPID::_get_control()
e2011220 0:ee7e9405e1c7 4 {
e2011220 0:ee7e9405e1c7 5 return _ctrl;
e2011220 0:ee7e9405e1c7 6 }
e2011220 0:ee7e9405e1c7 7 void VPID::_calc_p()
e2011220 0:ee7e9405e1c7 8 {
e2011220 0:ee7e9405e1c7 9 _update(_diff, PID::_pid_state.target - PID::_pid_state.current);
e2011220 0:ee7e9405e1c7 10 _p = _diff[1];
e2011220 0:ee7e9405e1c7 11 _update(_dctrl, PID::_pid_state.k * (_p + _i + _d));
e2011220 0:ee7e9405e1c7 12 _ctrl += (_dctrl[1] - _dctrl[0]) / _tim.read();
e2011220 0:ee7e9405e1c7 13 _tim.reset();
e2011220 0:ee7e9405e1c7 14 }
e2011220 0:ee7e9405e1c7 15 void VPID::_calc_i()
e2011220 0:ee7e9405e1c7 16 {
e2011220 0:ee7e9405e1c7 17 _integral += (_diff[0] + _diff[1]) / 2;
e2011220 0:ee7e9405e1c7 18 _i = _integral;
e2011220 0:ee7e9405e1c7 19 }
e2011220 0:ee7e9405e1c7 20 void VPID::_calc_d()
e2011220 0:ee7e9405e1c7 21 {
e2011220 0:ee7e9405e1c7 22 _d = _diff[1] - _diff[0];
e2011220 0:ee7e9405e1c7 23 }
e2011220 0:ee7e9405e1c7 24 void VPID::_reset()
e2011220 0:ee7e9405e1c7 25 {
e2011220 0:ee7e9405e1c7 26 _p = _i = _d = 0;
e2011220 0:ee7e9405e1c7 27 _diff[0] = _diff[1] = 0;
e2011220 0:ee7e9405e1c7 28 _integral = 0;
e2011220 0:ee7e9405e1c7 29 _ctrl = _dctrl[0] = _dctrl[1] = 0;
e2011220 0:ee7e9405e1c7 30 }