PID Library Brought in from the PID Arduino Library

Dependents:   Basic_PID wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol ... more


14 months ago

File content as of revision 4:1b6ecfeb7ba9:

#ifndef PID_H
#define PID_H
#include "mbed.h"

class PID 
      #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(volatile double* Input, volatile double* Output, volatile 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();                   //

    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;

    volatile double *myInput;              // * Pointers to the Input, Output, and Setpoint variables
    volatile double *myOutput;             //   This creates a hard link between the variables and the 
    volatile 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;