José Claudio
/
QuadCopter-Sensor-Serial
Quadcopter working with accelerômeter and accelerometer, and bluetooth radio for communication
Controllers/PID.cpp@0:56b8c86181b1, 2013-05-21 (annotated)
- Committer:
- jose_claudiojr
- Date:
- Tue May 21 14:12:13 2013 +0000
- Revision:
- 0:56b8c86181b1
Quadcopter code with accelerometer and gyroscope.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jose_claudiojr | 0:56b8c86181b1 | 1 | #include "PID.h" |
jose_claudiojr | 0:56b8c86181b1 | 2 | |
jose_claudiojr | 0:56b8c86181b1 | 3 | PID::PID(float kp, float ki, float kd, float dt) |
jose_claudiojr | 0:56b8c86181b1 | 4 | { |
jose_claudiojr | 0:56b8c86181b1 | 5 | this->kp = kp; |
jose_claudiojr | 0:56b8c86181b1 | 6 | this->ki = ki; |
jose_claudiojr | 0:56b8c86181b1 | 7 | this->kd = kd; |
jose_claudiojr | 0:56b8c86181b1 | 8 | this->dt = dt; |
jose_claudiojr | 0:56b8c86181b1 | 9 | |
jose_claudiojr | 0:56b8c86181b1 | 10 | reset(); |
jose_claudiojr | 0:56b8c86181b1 | 11 | } |
jose_claudiojr | 0:56b8c86181b1 | 12 | |
jose_claudiojr | 0:56b8c86181b1 | 13 | void PID::reset() |
jose_claudiojr | 0:56b8c86181b1 | 14 | { |
jose_claudiojr | 0:56b8c86181b1 | 15 | lastErro = 0.0f; |
jose_claudiojr | 0:56b8c86181b1 | 16 | lastSumErro = 0.0f; |
jose_claudiojr | 0:56b8c86181b1 | 17 | _pid = 0.0f; |
jose_claudiojr | 0:56b8c86181b1 | 18 | |
jose_claudiojr | 0:56b8c86181b1 | 19 | integral = 0.0f; |
jose_claudiojr | 0:56b8c86181b1 | 20 | |
jose_claudiojr | 0:56b8c86181b1 | 21 | } |
jose_claudiojr | 0:56b8c86181b1 | 22 | |
jose_claudiojr | 0:56b8c86181b1 | 23 | void PID::setGains(float kp, float ki, float kd) |
jose_claudiojr | 0:56b8c86181b1 | 24 | { |
jose_claudiojr | 0:56b8c86181b1 | 25 | this->kp = kp; |
jose_claudiojr | 0:56b8c86181b1 | 26 | this->ki = ki; |
jose_claudiojr | 0:56b8c86181b1 | 27 | this->kd = kd; |
jose_claudiojr | 0:56b8c86181b1 | 28 | } |
jose_claudiojr | 0:56b8c86181b1 | 29 | |
jose_claudiojr | 0:56b8c86181b1 | 30 | float PID::compute(float setPoint, float currentPoint) |
jose_claudiojr | 0:56b8c86181b1 | 31 | { |
jose_claudiojr | 0:56b8c86181b1 | 32 | float error = setPoint - currentPoint; |
jose_claudiojr | 0:56b8c86181b1 | 33 | float derivative = (error - lastErro)/dt; |
jose_claudiojr | 0:56b8c86181b1 | 34 | integral = (integral + (error*dt)); |
jose_claudiojr | 0:56b8c86181b1 | 35 | |
jose_claudiojr | 0:56b8c86181b1 | 36 | float contribuicao = (kp*error) + (ki*integral) + (kd*derivative); |
jose_claudiojr | 0:56b8c86181b1 | 37 | |
jose_claudiojr | 0:56b8c86181b1 | 38 | |
jose_claudiojr | 0:56b8c86181b1 | 39 | |
jose_claudiojr | 0:56b8c86181b1 | 40 | //_pid = contribuicao; |
jose_claudiojr | 0:56b8c86181b1 | 41 | |
jose_claudiojr | 0:56b8c86181b1 | 42 | lastErro = error; |
jose_claudiojr | 0:56b8c86181b1 | 43 | //lastSumErro += error; |
jose_claudiojr | 0:56b8c86181b1 | 44 | |
jose_claudiojr | 0:56b8c86181b1 | 45 | return contribuicao; |
jose_claudiojr | 0:56b8c86181b1 | 46 | } |
jose_claudiojr | 0:56b8c86181b1 | 47 | |
jose_claudiojr | 0:56b8c86181b1 | 48 | float PID::getP() |
jose_claudiojr | 0:56b8c86181b1 | 49 | { |
jose_claudiojr | 0:56b8c86181b1 | 50 | return kp; |
jose_claudiojr | 0:56b8c86181b1 | 51 | } |
jose_claudiojr | 0:56b8c86181b1 | 52 | |
jose_claudiojr | 0:56b8c86181b1 | 53 | float PID::getI() |
jose_claudiojr | 0:56b8c86181b1 | 54 | { |
jose_claudiojr | 0:56b8c86181b1 | 55 | return ki; |
jose_claudiojr | 0:56b8c86181b1 | 56 | } |
jose_claudiojr | 0:56b8c86181b1 | 57 | |
jose_claudiojr | 0:56b8c86181b1 | 58 | float PID::getD() |
jose_claudiojr | 0:56b8c86181b1 | 59 | { |
jose_claudiojr | 0:56b8c86181b1 | 60 | return kd; |
jose_claudiojr | 0:56b8c86181b1 | 61 | } |
jose_claudiojr | 0:56b8c86181b1 | 62 | /* |
jose_claudiojr | 0:56b8c86181b1 | 63 | float PID::getuP() |
jose_claudiojr | 0:56b8c86181b1 | 64 | { |
jose_claudiojr | 0:56b8c86181b1 | 65 | return up; |
jose_claudiojr | 0:56b8c86181b1 | 66 | } |
jose_claudiojr | 0:56b8c86181b1 | 67 | |
jose_claudiojr | 0:56b8c86181b1 | 68 | float PID::getuI() |
jose_claudiojr | 0:56b8c86181b1 | 69 | { |
jose_claudiojr | 0:56b8c86181b1 | 70 | return ui; |
jose_claudiojr | 0:56b8c86181b1 | 71 | } |
jose_claudiojr | 0:56b8c86181b1 | 72 | |
jose_claudiojr | 0:56b8c86181b1 | 73 | float PID::getuD() |
jose_claudiojr | 0:56b8c86181b1 | 74 | { |
jose_claudiojr | 0:56b8c86181b1 | 75 | return ud; |
jose_claudiojr | 0:56b8c86181b1 | 76 | } |
jose_claudiojr | 0:56b8c86181b1 | 77 | */ |