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@0:0a9ce35078a3, 2021-09-21 (annotated)

Committer:
hamohamo
Date:
Tue Sep 21 06:16:58 2021 +0000
Revision:
0:0a9ce35078a3
Child:
2:d88ff6dda390
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #include "pid.hpp"
hamohamo 0:0a9ce35078a3 2
hamohamo 0:0a9ce35078a3 3 PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){
hamohamo 0:0a9ce35078a3 4 err[0]=0;
hamohamo 0:0a9ce35078a3 5 }
hamohamo 0:0a9ce35078a3 6 void PID::Update(double Value,double Target,double dt){
hamohamo 0:0a9ce35078a3 7 err[1]=Target-Value;
hamohamo 0:0a9ce35078a3 8 integral+=(err[1]+err[0])/2.0*dt;
hamohamo 0:0a9ce35078a3 9 P=err[1];
hamohamo 0:0a9ce35078a3 10 I=integral;
hamohamo 0:0a9ce35078a3 11 D=(err[1]-err[0])/dt;
hamohamo 0:0a9ce35078a3 12 err[0]=err[1];
hamohamo 0:0a9ce35078a3 13 gain+=(Kp*P)+(Ki*I)+(Kd*D);
hamohamo 0:0a9ce35078a3 14 }
hamohamo 0:0a9ce35078a3 15 double PID::getGain(){
hamohamo 0:0a9ce35078a3 16 double rtn;
hamohamo 0:0a9ce35078a3 17 if(gain<=0){
hamohamo 0:0a9ce35078a3 18 if(gain<Max_M){
hamohamo 0:0a9ce35078a3 19 rtn=Max_M;
hamohamo 0:0a9ce35078a3 20 }
hamohamo 0:0a9ce35078a3 21 else{
hamohamo 0:0a9ce35078a3 22 rtn=gain;
hamohamo 0:0a9ce35078a3 23 }
hamohamo 0:0a9ce35078a3 24 }
hamohamo 0:0a9ce35078a3 25 else {
hamohamo 0:0a9ce35078a3 26 if(gain>Max_P){
hamohamo 0:0a9ce35078a3 27 rtn=Max_P;
hamohamo 0:0a9ce35078a3 28 }
hamohamo 0:0a9ce35078a3 29 else{
hamohamo 0:0a9ce35078a3 30 rtn=gain;
hamohamo 0:0a9ce35078a3 31 }
hamohamo 0:0a9ce35078a3 32 }
hamohamo 0:0a9ce35078a3 33 return rtn;
hamohamo 0:0a9ce35078a3 34 }
hamohamo 0:0a9ce35078a3 35 void PID::setLimit(double max_p,double max_m){
hamohamo 0:0a9ce35078a3 36 Max_P = max_p*1.0;
hamohamo 0:0a9ce35078a3 37 Max_M = max_m*1.0;
hamohamo 0:0a9ce35078a3 38 }
hamohamo 0:0a9ce35078a3 39 PID::~PID(){}