Jesus Fausto / PID

PID Library Brought in from the PID Arduino Library

Dependents:   Basic_PID wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol ... more

PID.h@2:60801ab3cbf9, 2018-08-31 (annotated)

Committer:
jvfausto
Date:
Fri Aug 31 17:09:28 2018 +0000
Revision:
2:60801ab3cbf9
Parent:
0:58f3a6c65ad5 
k

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 0:58f3a6c65ad5 1 #ifndef PID_H
jvfausto 0:58f3a6c65ad5 2 #define PID_H
jvfausto 0:58f3a6c65ad5 3
jvfausto 0:58f3a6c65ad5 4 #include "mbed.h"
jvfausto 0:58f3a6c65ad5 5
jvfausto 0:58f3a6c65ad5 6 class PID
jvfausto 0:58f3a6c65ad5 7 {
jvfausto 0:58f3a6c65ad5 8 public:
jvfausto 0:58f3a6c65ad5 9 #define AUTOMATIC 1
jvfausto 0:58f3a6c65ad5 10 #define MANUAL 0
jvfausto 0:58f3a6c65ad5 11 #define DIRECT 0
jvfausto 0:58f3a6c65ad5 12 #define REVERSE 1
jvfausto 0:58f3a6c65ad5 13 #define P_ON_M 0
jvfausto 0:58f3a6c65ad5 14 #define P_ON_E 1
jvfausto 0:58f3a6c65ad5 15 Timer PIDtimer;
jvfausto 2:60801ab3cbf9 16 PID(volatile double* Input, volatile double* Output, volatile double* Setpoint,
jvfausto 0:58f3a6c65ad5 17 double Kp, double Ki, double Kd, int POn, int ControllerDirection);
jvfausto 0:58f3a6c65ad5 18 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
jvfausto 0:58f3a6c65ad5 19
jvfausto 0:58f3a6c65ad5 20 bool Compute(); // * performs the PID calculation. it should be
jvfausto 0:58f3a6c65ad5 21 // called every time loop() cycles. ON/OFF and
jvfausto 0:58f3a6c65ad5 22 // calculation frequency can be set using SetMode
jvfausto 0:58f3a6c65ad5 23 // SetSampleTime respectively
jvfausto 0:58f3a6c65ad5 24
jvfausto 0:58f3a6c65ad5 25 void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but
jvfausto 0:58f3a6c65ad5 26 // it's likely the user will want to change this depending on
jvfausto 0:58f3a6c65ad5 27 // the application
jvfausto 0:58f3a6c65ad5 28
jvfausto 0:58f3a6c65ad5 29
jvfausto 0:58f3a6c65ad5 30
jvfausto 0:58f3a6c65ad5 31 //available but not commonly used functions ********************************************************
jvfausto 0:58f3a6c65ad5 32 void SetTunings(double, double, // * While most users will set the tunings once in the
jvfausto 0:58f3a6c65ad5 33 double); // constructor, this function gives the user the option
jvfausto 0:58f3a6c65ad5 34 // of changing tunings during runtime for Adaptive control
jvfausto 0:58f3a6c65ad5 35 void SetTunings(double, double, // * overload for specifying proportional mode
jvfausto 0:58f3a6c65ad5 36 double, int);
jvfausto 0:58f3a6c65ad5 37
jvfausto 0:58f3a6c65ad5 38 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
jvfausto 0:58f3a6c65ad5 39 // means the output will increase when error is positive. REVERSE
jvfausto 0:58f3a6c65ad5 40 // means the opposite. it's very unlikely that this will be needed
jvfausto 0:58f3a6c65ad5 41 // once it is set in the constructor.*/
jvfausto 0:58f3a6c65ad5 42 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
jvfausto 0:58f3a6c65ad5 43 // the PID calculation is performed. default is 100
jvfausto 0:58f3a6c65ad5 44
jvfausto 0:58f3a6c65ad5 45
jvfausto 0:58f3a6c65ad5 46
jvfausto 0:58f3a6c65ad5 47
jvfausto 0:58f3a6c65ad5 48 //Display functions ****************************************************************
jvfausto 0:58f3a6c65ad5 49 double GetKp(); // These functions query the pid for interal values.
jvfausto 0:58f3a6c65ad5 50 double GetKi(); // they were created mainly for the pid front-end,
jvfausto 0:58f3a6c65ad5 51 double GetKd(); // where it's important to know what is actually
jvfausto 0:58f3a6c65ad5 52 int GetMode(); // inside the PID.
jvfausto 0:58f3a6c65ad5 53 int GetDirection(); //
jvfausto 0:58f3a6c65ad5 54
jvfausto 0:58f3a6c65ad5 55 private:
jvfausto 0:58f3a6c65ad5 56 void Initialize();
jvfausto 0:58f3a6c65ad5 57
jvfausto 0:58f3a6c65ad5 58 double dispKp; // * we'll hold on to the tuning parameters in user-entered
jvfausto 0:58f3a6c65ad5 59 double dispKi; // format for display purposes
jvfausto 0:58f3a6c65ad5 60 double dispKd; //
jvfausto 0:58f3a6c65ad5 61
jvfausto 0:58f3a6c65ad5 62 double kp; // * (P)roportional Tuning Parameter
jvfausto 0:58f3a6c65ad5 63 double ki; // * (I)ntegral Tuning Parameter
jvfausto 0:58f3a6c65ad5 64 double kd; // * (D)erivative Tuning Parameter
jvfausto 0:58f3a6c65ad5 65
jvfausto 0:58f3a6c65ad5 66 int controllerDirection;
jvfausto 0:58f3a6c65ad5 67 int pOn;
jvfausto 0:58f3a6c65ad5 68
jvfausto 2:60801ab3cbf9 69 volatile double *myInput; // * Pointers to the Input, Output, and Setpoint variables
jvfausto 2:60801ab3cbf9 70 volatile double *myOutput; // This creates a hard link between the variables and the
jvfausto 2:60801ab3cbf9 71 volatile double *mySetpoint; // PID, freeing the user from having to constantly tell us
jvfausto 0:58f3a6c65ad5 72 // what these values are. with pointers we'll just know.
jvfausto 0:58f3a6c65ad5 73
jvfausto 0:58f3a6c65ad5 74 double lastTime;
jvfausto 0:58f3a6c65ad5 75 double outputSum, lastInput;
jvfausto 0:58f3a6c65ad5 76
jvfausto 0:58f3a6c65ad5 77 double SampleTime;
jvfausto 0:58f3a6c65ad5 78 double outMin, outMax;
jvfausto 0:58f3a6c65ad5 79 bool inAuto, pOnE;
jvfausto 0:58f3a6c65ad5 80
jvfausto 0:58f3a6c65ad5 81 };
jvfausto 0:58f3a6c65ad5 82
jvfausto 0:58f3a6c65ad5 83 #endif
jvfausto 0:58f3a6c65ad5 84