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
diff -r 59244694c2bb -r d88ff6dda390 pid.cpp --- 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(){}