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(){}