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@5:8dec5e011b3c, 2021-10-18 (annotated)
- Committer:
- hamohamo
- Date:
- Mon Oct 18 08:15:39 2021 +0000
- Revision:
- 5:8dec5e011b3c
- Parent:
- 2:d88ff6dda390
- Child:
- 6:87fd489a9801
hkh;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 0:0a9ce35078a3 | 1 | #include "pid.hpp" |
hamohamo | 2:d88ff6dda390 | 2 | #include "mbed.h" |
hamohamo | 0:0a9ce35078a3 | 3 | PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){ |
hamohamo | 2:d88ff6dda390 | 4 | err[0]=0.0; |
hamohamo | 5:8dec5e011b3c | 5 | mv = 0.0; |
hamohamo | 2:d88ff6dda390 | 6 | integral = 0.0; |
hamohamo | 0:0a9ce35078a3 | 7 | } |
hamohamo | 0:0a9ce35078a3 | 8 | void PID::Update(double Value,double Target,double dt){ |
hamohamo | 5:8dec5e011b3c | 9 | e[2]=Target-Value; |
hamohamo | 5:8dec5e011b3c | 10 | P=(e[2]-e[1])/dt; |
hamohamo | 5:8dec5e011b3c | 11 | I= e[2]; |
hamohamo | 5:8dec5e011b3c | 12 | D=(e[2]- 2*e[1] + e[0)/dt/dt; |
hamohamo | 5:8dec5e011b3c | 13 | e[0] = e[1]; |
hamohamo | 5:8dec5e011b3c | 14 | e[1] = e[2]; |
hamohamo | 5:8dec5e011b3c | 15 | mv += ((Kp*P)+(Ki*I)+(Kd*D))*dt; |
hamohamo | 5:8dec5e011b3c | 16 | if(mv<Min) mv = Min; |
hamohamo | 5:8dec5e011b3c | 17 | if(mv>Max) mv = Max; |
hamohamo | 0:0a9ce35078a3 | 18 | } |
hamohamo | 5:8dec5e011b3c | 19 | double PID::getmv(){ |
hamohamo | 0:0a9ce35078a3 | 20 | double rtn; |
hamohamo | 5:8dec5e011b3c | 21 | if(mv<Min)rtn=Min; |
hamohamo | 5:8dec5e011b3c | 22 | else rtn=mv; |
hamohamo | 5:8dec5e011b3c | 23 | if(mv>Max)rtn=Max; |
hamohamo | 5:8dec5e011b3c | 24 | else rtn=mv; |
hamohamo | 0:0a9ce35078a3 | 25 | return rtn; |
hamohamo | 0:0a9ce35078a3 | 26 | } |
hamohamo | 2:d88ff6dda390 | 27 | void PID::setLimit(double max,double min){ |
hamohamo | 2:d88ff6dda390 | 28 | Max = max; |
hamohamo | 2:d88ff6dda390 | 29 | Min = min; |
hamohamo | 0:0a9ce35078a3 | 30 | } |
hamohamo | 0:0a9ce35078a3 | 31 | PID::~PID(){} |