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();
}
}

pid.cpp

Committer:
hamohamo
Date:
2021-09-21
Revision:
0:0a9ce35078a3
Child:
2:d88ff6dda390

File content as of revision 0:0a9ce35078a3:

#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(){}