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:
2:d88ff6dda390
Parent:
0:0a9ce35078a3
Child:
5:8dec5e011b3c
--- a/pid.cpp	Tue Sep 21 06:43:07 2021 +0000
+++ b/pid.cpp	Wed Oct 13 08:12:34 2021 +0000
@@ -1,7 +1,9 @@
 #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;
+    err[0]=0.0;
+    gain = 0.0;
+    integral = 0.0;
 }
 void PID::Update(double Value,double Target,double dt){
     err[1]=Target-Value;
@@ -11,29 +13,21 @@
     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;
 }
 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;
-        }
-    }
+    if(gain<Min)rtn=Min;
+    else rtn=gain;
+    if(gain>Max)rtn=Max;
+    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;
+void PID::setLimit(double max,double min){
+  Max = max;
+  Min = min;
 }
 PID::~PID(){}