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:
6:87fd489a9801
Parent:
5:8dec5e011b3c
Child:
11:80800fd9f4af
--- a/pid.cpp	Mon Oct 18 08:15:39 2021 +0000
+++ b/pid.cpp	Thu Oct 21 16:16:01 2021 +0000
@@ -1,20 +1,31 @@
 #include "pid.hpp"
 #include "mbed.h"
 PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){
-    err[0]=0.0;
+    e[0]=0.0;
     mv = 0.0;
     integral = 0.0;
 }
-void PID::Update(double Value,double Target,double dt){
+void PID::Update(double Value,double Target,double dt,bool addmv){/*
     e[2]=Target-Value;
     P=(e[2]-e[1])/dt;
     I= e[2];
-    D=(e[2]- 2*e[1] + e[0)/dt/dt;
+    D=(e[2]- 2*e[1] + e[0])/dt/dt;
     e[0] = e[1];
     e[1] = e[2];
-    mv += ((Kp*P)+(Ki*I)+(Kd*D))*dt;
+    integral += ((Kp*P)+(Ki*I)+(Kd*D))*dt;
+    mv += integral;*/
+    e[2] = Target - Value;
+    P = e[2];
+    integral += (e[2]+e[1])*dt/2.0;
+    I = integral;
+    D = (e[2]-e[1])/dt;
+    if(addmv) mv += ((Kp*P)+(Ki*I)+(Kd*D));
+    else mv = ((Kp*P)+(Ki*I)+(Kd*D));
+    e[1] = e[2];
     if(mv<Min) mv = Min;
     if(mv>Max) mv = Max;
+    if(integral<Min) integral = Min;
+    if(integral>Max) integral = Max;
 }
 double PID::getmv(){
     double rtn;