Prueba
Embed:
(wiki syntax)
Show/hide line numbers
Controller.cpp
00001 #include "Controller.h" 00002 00003 Controller::Controller(float _KP, float _KV, float _KI, float _SamplingTime){ 00004 KP = _KP; 00005 KV = _KV; 00006 KI = _KI; 00007 SamplingTime = _SamplingTime; 00008 PrevErr = 0; 00009 } 00010 float Controller::ComputeP(float qref, float qi){ 00011 return (qref - qi) * KP; 00012 } 00013 float Controller::ComputePD(float qref, float qi, float qdotref, float qdoti){ 00014 return (qref - qi) * KP + (qdotref - qdoti) * KV; 00015 } 00016 /*float Controller::ComputePD(float qref, float qi, float qdotref, float qdoti){ 00017 return (qref - qi) * KP - qdoti * KV; 00018 }*/ 00019 float Controller::ComputePID(float qref, float qi, float qdotref, float qdoti){ 00020 00021 float IntegralErr = PrevErr + (qref - qi); 00022 PrevErr = IntegralErr; 00023 return (qref-qi) * KP + (qdotref - qdoti) * KV + IntegralErr * KI; 00024 }
Generated on Thu Jul 28 2022 11:10:45 by
1.7.2