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@11:80800fd9f4af, 2021-10-29 (annotated)
- Committer:
- hamohamo
- Date:
- Fri Oct 29 09:20:31 2021 +0000
- Revision:
- 11:80800fd9f4af
- Parent:
- 6:87fd489a9801
asd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 0:0a9ce35078a3 | 1 | #include "pid.hpp" |
hamohamo | 2:d88ff6dda390 | 2 | #include "mbed.h" |
hamohamo | 0:0a9ce35078a3 | 3 | PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){ |
hamohamo | 6:87fd489a9801 | 4 | e[0]=0.0; |
hamohamo | 5:8dec5e011b3c | 5 | mv = 0.0; |
hamohamo | 2:d88ff6dda390 | 6 | integral = 0.0; |
hamohamo | 0:0a9ce35078a3 | 7 | } |
hamohamo | 6:87fd489a9801 | 8 | void PID::Update(double Value,double Target,double dt,bool addmv){/* |
hamohamo | 5:8dec5e011b3c | 9 | e[2]=Target-Value; |
hamohamo | 5:8dec5e011b3c | 10 | P=(e[2]-e[1])/dt; |
hamohamo | 5:8dec5e011b3c | 11 | I= e[2]; |
hamohamo | 6:87fd489a9801 | 12 | D=(e[2]- 2*e[1] + e[0])/dt/dt; |
hamohamo | 5:8dec5e011b3c | 13 | e[0] = e[1]; |
hamohamo | 5:8dec5e011b3c | 14 | e[1] = e[2]; |
hamohamo | 6:87fd489a9801 | 15 | integral += ((Kp*P)+(Ki*I)+(Kd*D))*dt; |
hamohamo | 6:87fd489a9801 | 16 | mv += integral;*/ |
hamohamo | 6:87fd489a9801 | 17 | e[2] = Target - Value; |
hamohamo | 6:87fd489a9801 | 18 | P = e[2]; |
hamohamo | 6:87fd489a9801 | 19 | integral += (e[2]+e[1])*dt/2.0; |
hamohamo | 6:87fd489a9801 | 20 | I = integral; |
hamohamo | 6:87fd489a9801 | 21 | D = (e[2]-e[1])/dt; |
hamohamo | 6:87fd489a9801 | 22 | if(addmv) mv += ((Kp*P)+(Ki*I)+(Kd*D)); |
hamohamo | 6:87fd489a9801 | 23 | else mv = ((Kp*P)+(Ki*I)+(Kd*D)); |
hamohamo | 6:87fd489a9801 | 24 | e[1] = e[2]; |
hamohamo | 11:80800fd9f4af | 25 | if(Target == 0.0) mv = 0.0; |
hamohamo | 5:8dec5e011b3c | 26 | if(mv<Min) mv = Min; |
hamohamo | 5:8dec5e011b3c | 27 | if(mv>Max) mv = Max; |
hamohamo | 6:87fd489a9801 | 28 | if(integral<Min) integral = Min; |
hamohamo | 6:87fd489a9801 | 29 | if(integral>Max) integral = Max; |
hamohamo | 0:0a9ce35078a3 | 30 | } |
hamohamo | 5:8dec5e011b3c | 31 | double PID::getmv(){ |
hamohamo | 0:0a9ce35078a3 | 32 | double rtn; |
hamohamo | 5:8dec5e011b3c | 33 | if(mv<Min)rtn=Min; |
hamohamo | 5:8dec5e011b3c | 34 | else rtn=mv; |
hamohamo | 5:8dec5e011b3c | 35 | if(mv>Max)rtn=Max; |
hamohamo | 5:8dec5e011b3c | 36 | else rtn=mv; |
hamohamo | 0:0a9ce35078a3 | 37 | return rtn; |
hamohamo | 0:0a9ce35078a3 | 38 | } |
hamohamo | 2:d88ff6dda390 | 39 | void PID::setLimit(double max,double min){ |
hamohamo | 2:d88ff6dda390 | 40 | Max = max; |
hamohamo | 2:d88ff6dda390 | 41 | Min = min; |
hamohamo | 0:0a9ce35078a3 | 42 | } |
hamohamo | 0:0a9ce35078a3 | 43 | PID::~PID(){} |