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:
- 5:8dec5e011b3c
- Parent:
- 2:d88ff6dda390
- Child:
- 6:87fd489a9801
--- a/pid.cpp Wed Oct 13 10:00:55 2021 +0000 +++ b/pid.cpp Mon Oct 18 08:15:39 2021 +0000 @@ -2,28 +2,26 @@ #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; - gain = 0.0; + mv = 0.0; integral = 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); - if(gain<Min) gain = Min; - if(gain>Max) gain = Max; - if(integral<Min) integral = Min; - if(integral>Max) integral = Max; + e[2]=Target-Value; + P=(e[2]-e[1])/dt; + I= e[2]; + 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; + if(mv<Min) mv = Min; + if(mv>Max) mv = Max; } -double PID::getGain(){ +double PID::getmv(){ double rtn; - if(gain<Min)rtn=Min; - else rtn=gain; - if(gain>Max)rtn=Max; - else rtn=gain; + if(mv<Min)rtn=Min; + else rtn=mv; + if(mv>Max)rtn=Max; + else rtn=mv; return rtn; } void PID::setLimit(double max,double min){