controller.h

00001 #include "mbed.h"
00002 
00003 
00004 
00005 class PID
00006 {
00007 public:
00008 
00009 
00010     float de_kp;
00011     float de_ip;
00012     float de_dp;
00013 
00014 
00015 
00016     float  de_output;
00017 
00018 
00019     /*
00020     * Constructeur
00021     * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
00022     * @param Kc - Tuning parameter
00023     * @param tauI - Tuning parameter
00024     * @param tauD - Tuning parameter
00025     * @param interval PID calculation performed every interval seconds.
00026     */
00027     PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval);
00028 
00029     /*
00030     * Scale from inputs to 0-100%.
00031     * @param InMin The real world value corresponding to 0%.
00032     * @param InMax The real world value corresponding to 100%.
00033     */
00034     void setInputLimits(float inMin, float inMax);
00035 
00036     /*
00037     * Scale from outputs to 0-100%.
00038     * @param outMin The real world value corresponding to 0%.
00039     * @param outMax The real world value corresponding to 100%.
00040     */
00041     void setOutputLimits(float outMin, float outMax);
00042 
00043     /*
00044     * Calculate PID constants.
00045     * Allows parameters to be changed on the fly without ruining calculations.
00046     * @param Kc - Tuning parameter
00047     * @param tauI - Tuning parameter
00048     * @param tauD - Tuning parameter
00049     */
00050     void setTunings(float Kc, float tauI, float tauD);
00051 
00052     /*
00053     * Reinitializes controller internals. Automatically
00054     * called on a manual to auto transition.
00055     */
00056 //   void reset(void);
00057 
00058     /*
00059     * Set how fast the PID loop is run.
00060     * @param interval PID calculation peformed every interval seconds.
00061     */
00062 //   void setInterval(float interval);
00063 
00064     /*
00065     * Set the bias.
00066     * @param bias The bias for the controller output.
00067     */
00068 //    void setBias(float bias);
00069 
00070     /*
00071     * PID calculation.
00072     * @return The controller output as a float between outMin and outMax.
00073     */
00074     float compute(float center, float sp);
00075 
00076     //Getters.
00077     float getInMin();
00078     float getInMax();
00079     float getOutMin();
00080     float getOutMax();
00081     float getInterval();
00082     float getPParam();
00083     float getIParam();
00084     float getDParam();
00085 
00086 private:
00087 
00088     //  bool usingFeedForward;
00089 
00090     //Actual tuning parameters used in PID calculation.
00091     float Kp;
00092     float Ki;
00093     float Kd;
00094     float Kc_;
00095     float tauI_;
00096     float tauD_;
00097 
00098 
00099 
00100     float pParam_;
00101     float iParam_;
00102     float dParam_;
00103 
00104     float accError_;
00105 
00106     //Raw tuning parameters.
00107 
00108     //The point we want to reach.
00109     float setPoint_;
00110     //The thing we measure.
00111     float processVariable_;
00112     float prevProcessVariable_;
00113     //The output that affects the process variable.
00114     float controllerOutput_;
00115     float prevControllerOutput_;
00116 
00117     //We work in % for calculations so these will scale from
00118     //real world values to 0-100% and back again.
00119     float inMin_;
00120     float inMax_;
00121     float inSpan_;
00122 
00123     float outMin_;
00124     float outMid_;
00125     float outMax_;
00126     float outSpan_;
00127 
00128     float ctrl_Lbound;
00129     float ctrl_Ubound;
00130 
00131 
00132 
00133 
00134     //The accumulated error, i.e. integral.
00135     //float accError_;
00136     //The controller output bias.
00137     // float bias_;
00138 
00139     //The interval between samples.
00140     float tSample_;
00141 
00142     //Controller output as a real world value.
00143     // volatile float realOutput_;
00144 
00145 };