nakashima Kohei / take_mbed

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();
}
}

Diff: pid.cpp

Revision:
0:0a9ce35078a3
Child:
2:d88ff6dda390
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.cpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,39 @@
+#include "pid.hpp"
+
+PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){
+    err[0]=0;
+}
+void PID::Update(double Value,double Target,double dt){
+    err[1]=Target-Value;
+    integral+=(err[1]+err[0])/2.0*dt;
+    P=err[1];
+    I=integral;
+    D=(err[1]-err[0])/dt;
+    err[0]=err[1];
+    gain+=(Kp*P)+(Ki*I)+(Kd*D);
+}
+double PID::getGain(){
+    double rtn;
+    if(gain<=0){
+        if(gain<Max_M){
+            rtn=Max_M;
+        }
+        else{
+            rtn=gain;
+        }
+    }
+    else {
+        if(gain>Max_P){
+            rtn=Max_P;
+        }
+        else{
+            rtn=gain;
+        }
+    }
+    return rtn;
+}
+void PID::setLimit(double max_p,double max_m){
+  Max_P = max_p*1.0;
+  Max_M = max_m*1.0;
+}
+PID::~PID(){}