足回り動かすためのライブラリ
使用例
#include "scrp_slave.hpp" #include "core.hpp" #include "mbed.h" ScrpSlave sendpwm(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800); Robot AKASHIKOSEN(50.8,25.4,322.5,259.75); Core RBT(&AKASHIKOSEN,OMNI4,0.02); int main(){ /*--------------SETUP--------------*/ AKASHIKOSEN.setCWID(0,1,2,3); AKASHIKOSEN.setSWID(4,5,6,7); RBT.addENC(PC_4,PA_13,512,4,0); RBT.addENC(PA_14,PA_15,512,4,1); RBT.addENC(PC_2,PC_3,512,4,2); RBT.addENC(PC_10,PC_11,512,4,3); RBT.addENC(PA_7,PA_6,512,4,4); RBT.addENC(PA_9,PA_8,512,4,5); RBT.addENC(PC_1,PC_0,512,4,6); RBT.addENC(PC_5,PA_12,512,4,7); RBT.START(); /*--------------LOOP--------------*/ Position pos; while(true){ pos = RBT.getStatus(); printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta); RBT.LOOP(); } }
pid.cpp@0:0a9ce35078a3, 2021-09-21 (annotated)
- Committer:
- hamohamo
- Date:
- Tue Sep 21 06:16:58 2021 +0000
- Revision:
- 0:0a9ce35078a3
- Child:
- 2:d88ff6dda390
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 0:0a9ce35078a3 | 1 | #include "pid.hpp" |
hamohamo | 0:0a9ce35078a3 | 2 | |
hamohamo | 0:0a9ce35078a3 | 3 | PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){ |
hamohamo | 0:0a9ce35078a3 | 4 | err[0]=0; |
hamohamo | 0:0a9ce35078a3 | 5 | } |
hamohamo | 0:0a9ce35078a3 | 6 | void PID::Update(double Value,double Target,double dt){ |
hamohamo | 0:0a9ce35078a3 | 7 | err[1]=Target-Value; |
hamohamo | 0:0a9ce35078a3 | 8 | integral+=(err[1]+err[0])/2.0*dt; |
hamohamo | 0:0a9ce35078a3 | 9 | P=err[1]; |
hamohamo | 0:0a9ce35078a3 | 10 | I=integral; |
hamohamo | 0:0a9ce35078a3 | 11 | D=(err[1]-err[0])/dt; |
hamohamo | 0:0a9ce35078a3 | 12 | err[0]=err[1]; |
hamohamo | 0:0a9ce35078a3 | 13 | gain+=(Kp*P)+(Ki*I)+(Kd*D); |
hamohamo | 0:0a9ce35078a3 | 14 | } |
hamohamo | 0:0a9ce35078a3 | 15 | double PID::getGain(){ |
hamohamo | 0:0a9ce35078a3 | 16 | double rtn; |
hamohamo | 0:0a9ce35078a3 | 17 | if(gain<=0){ |
hamohamo | 0:0a9ce35078a3 | 18 | if(gain<Max_M){ |
hamohamo | 0:0a9ce35078a3 | 19 | rtn=Max_M; |
hamohamo | 0:0a9ce35078a3 | 20 | } |
hamohamo | 0:0a9ce35078a3 | 21 | else{ |
hamohamo | 0:0a9ce35078a3 | 22 | rtn=gain; |
hamohamo | 0:0a9ce35078a3 | 23 | } |
hamohamo | 0:0a9ce35078a3 | 24 | } |
hamohamo | 0:0a9ce35078a3 | 25 | else { |
hamohamo | 0:0a9ce35078a3 | 26 | if(gain>Max_P){ |
hamohamo | 0:0a9ce35078a3 | 27 | rtn=Max_P; |
hamohamo | 0:0a9ce35078a3 | 28 | } |
hamohamo | 0:0a9ce35078a3 | 29 | else{ |
hamohamo | 0:0a9ce35078a3 | 30 | rtn=gain; |
hamohamo | 0:0a9ce35078a3 | 31 | } |
hamohamo | 0:0a9ce35078a3 | 32 | } |
hamohamo | 0:0a9ce35078a3 | 33 | return rtn; |
hamohamo | 0:0a9ce35078a3 | 34 | } |
hamohamo | 0:0a9ce35078a3 | 35 | void PID::setLimit(double max_p,double max_m){ |
hamohamo | 0:0a9ce35078a3 | 36 | Max_P = max_p*1.0; |
hamohamo | 0:0a9ce35078a3 | 37 | Max_M = max_m*1.0; |
hamohamo | 0:0a9ce35078a3 | 38 | } |
hamohamo | 0:0a9ce35078a3 | 39 | PID::~PID(){} |