PID Library Brought in from the PID Arduino Library
Dependents: Basic_PID wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol ... more
PID.h
- Committer:
- jvfausto
- Date:
- 2018-08-14
- Revision:
- 0:58f3a6c65ad5
- Child:
- 2:60801ab3cbf9
File content as of revision 0:58f3a6c65ad5:
#ifndef PID_H #define PID_H #include "mbed.h" class PID { public: #define AUTOMATIC 1 #define MANUAL 0 #define DIRECT 0 #define REVERSE 1 #define P_ON_M 0 #define P_ON_E 1 Timer PIDtimer; PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, int POn, int ControllerDirection); void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) bool Compute(); // * performs the PID calculation. it should be // called every time loop() cycles. ON/OFF and // calculation frequency can be set using SetMode // SetSampleTime respectively void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but // it's likely the user will want to change this depending on // the application //available but not commonly used functions ******************************************************** void SetTunings(double, double, // * While most users will set the tunings once in the double); // constructor, this function gives the user the option // of changing tunings during runtime for Adaptive control void SetTunings(double, double, // * overload for specifying proportional mode double, int); void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT // means the output will increase when error is positive. REVERSE // means the opposite. it's very unlikely that this will be needed // once it is set in the constructor.*/ void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which // the PID calculation is performed. default is 100 //Display functions **************************************************************** double GetKp(); // These functions query the pid for interal values. double GetKi(); // they were created mainly for the pid front-end, double GetKd(); // where it's important to know what is actually int GetMode(); // inside the PID. int GetDirection(); // private: void Initialize(); double dispKp; // * we'll hold on to the tuning parameters in user-entered double dispKi; // format for display purposes double dispKd; // double kp; // * (P)roportional Tuning Parameter double ki; // * (I)ntegral Tuning Parameter double kd; // * (D)erivative Tuning Parameter int controllerDirection; int pOn; double *myInput; // * Pointers to the Input, Output, and Setpoint variables double *myOutput; // This creates a hard link between the variables and the double *mySetpoint; // PID, freeing the user from having to constantly tell us // what these values are. with pointers we'll just know. double lastTime; double outputSum, lastInput; double SampleTime; double outMin, outMax; bool inAuto, pOnE; }; #endif