change float to double
Fork of PID by
PID.h@1:ca4077d72c94, 2016-11-23 (annotated)
- Committer:
- kenjiArai
- Date:
- Wed Nov 23 07:13:07 2016 +0000
- Revision:
- 1:ca4077d72c94
- Parent:
- 0:6e12a3e5af19
Change float to double
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aberk | 0:6e12a3e5af19 | 1 | /** |
aberk | 0:6e12a3e5af19 | 2 | * @author Aaron Berk |
aberk | 0:6e12a3e5af19 | 3 | * |
aberk | 0:6e12a3e5af19 | 4 | * @section LICENSE |
aberk | 0:6e12a3e5af19 | 5 | * |
aberk | 0:6e12a3e5af19 | 6 | * Copyright (c) 2010 ARM Limited |
aberk | 0:6e12a3e5af19 | 7 | * |
aberk | 0:6e12a3e5af19 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
aberk | 0:6e12a3e5af19 | 9 | * of this software and associated documentation files (the "Software"), to deal |
aberk | 0:6e12a3e5af19 | 10 | * in the Software without restriction, including without limitation the rights |
aberk | 0:6e12a3e5af19 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
aberk | 0:6e12a3e5af19 | 12 | * copies of the Software, and to permit persons to whom the Software is |
aberk | 0:6e12a3e5af19 | 13 | * furnished to do so, subject to the following conditions: |
aberk | 0:6e12a3e5af19 | 14 | * |
aberk | 0:6e12a3e5af19 | 15 | * The above copyright notice and this permission notice shall be included in |
aberk | 0:6e12a3e5af19 | 16 | * all copies or substantial portions of the Software. |
aberk | 0:6e12a3e5af19 | 17 | * |
aberk | 0:6e12a3e5af19 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
aberk | 0:6e12a3e5af19 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
aberk | 0:6e12a3e5af19 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
aberk | 0:6e12a3e5af19 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
aberk | 0:6e12a3e5af19 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
aberk | 0:6e12a3e5af19 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
aberk | 0:6e12a3e5af19 | 24 | * THE SOFTWARE. |
aberk | 0:6e12a3e5af19 | 25 | * |
aberk | 0:6e12a3e5af19 | 26 | * @section DESCRIPTION |
aberk | 0:6e12a3e5af19 | 27 | * |
aberk | 0:6e12a3e5af19 | 28 | * A PID controller is a widely used feedback controller commonly found in |
aberk | 0:6e12a3e5af19 | 29 | * industry. |
aberk | 0:6e12a3e5af19 | 30 | * |
aberk | 0:6e12a3e5af19 | 31 | * This library is a port of Brett Beauregard's Arduino PID library: |
aberk | 0:6e12a3e5af19 | 32 | * |
aberk | 0:6e12a3e5af19 | 33 | * http://www.arduino.cc/playground/Code/PIDLibrary |
aberk | 0:6e12a3e5af19 | 34 | * |
aberk | 0:6e12a3e5af19 | 35 | * The wikipedia article on PID controllers is a good place to start on |
aberk | 0:6e12a3e5af19 | 36 | * understanding how they work: |
aberk | 0:6e12a3e5af19 | 37 | * |
aberk | 0:6e12a3e5af19 | 38 | * http://en.wikipedia.org/wiki/PID_controller |
aberk | 0:6e12a3e5af19 | 39 | * |
aberk | 0:6e12a3e5af19 | 40 | * For a clear and elegant explanation of how to implement and tune a |
aberk | 0:6e12a3e5af19 | 41 | * controller, the controlguru website by Douglas J. Cooper (who also happened |
aberk | 0:6e12a3e5af19 | 42 | * to be Brett's controls professor) is an excellent reference: |
aberk | 0:6e12a3e5af19 | 43 | * |
aberk | 0:6e12a3e5af19 | 44 | * http://www.controlguru.com/ |
aberk | 0:6e12a3e5af19 | 45 | */ |
aberk | 0:6e12a3e5af19 | 46 | |
kenjiArai | 1:ca4077d72c94 | 47 | // Modified by K.Arai/JH1PJL on June 15th, 2016 |
kenjiArai | 1:ca4077d72c94 | 48 | |
aberk | 0:6e12a3e5af19 | 49 | #ifndef PID_H |
aberk | 0:6e12a3e5af19 | 50 | #define PID_H |
aberk | 0:6e12a3e5af19 | 51 | |
aberk | 0:6e12a3e5af19 | 52 | /** |
aberk | 0:6e12a3e5af19 | 53 | * Includes |
aberk | 0:6e12a3e5af19 | 54 | */ |
aberk | 0:6e12a3e5af19 | 55 | #include "mbed.h" |
aberk | 0:6e12a3e5af19 | 56 | |
aberk | 0:6e12a3e5af19 | 57 | /** |
aberk | 0:6e12a3e5af19 | 58 | * Defines |
aberk | 0:6e12a3e5af19 | 59 | */ |
aberk | 0:6e12a3e5af19 | 60 | #define MANUAL_MODE 0 |
aberk | 0:6e12a3e5af19 | 61 | #define AUTO_MODE 1 |
aberk | 0:6e12a3e5af19 | 62 | |
aberk | 0:6e12a3e5af19 | 63 | /** |
aberk | 0:6e12a3e5af19 | 64 | * Proportional-integral-derivative controller. |
aberk | 0:6e12a3e5af19 | 65 | */ |
aberk | 0:6e12a3e5af19 | 66 | class PID { |
aberk | 0:6e12a3e5af19 | 67 | |
aberk | 0:6e12a3e5af19 | 68 | public: |
aberk | 0:6e12a3e5af19 | 69 | |
aberk | 0:6e12a3e5af19 | 70 | /** |
aberk | 0:6e12a3e5af19 | 71 | * Constructor. |
aberk | 0:6e12a3e5af19 | 72 | * |
aberk | 0:6e12a3e5af19 | 73 | * Sets default limits [0-3.3V], calculates tuning parameters, and sets |
aberk | 0:6e12a3e5af19 | 74 | * manual mode with no bias. |
aberk | 0:6e12a3e5af19 | 75 | * |
aberk | 0:6e12a3e5af19 | 76 | * @param Kc - Tuning parameter |
aberk | 0:6e12a3e5af19 | 77 | * @param tauI - Tuning parameter |
aberk | 0:6e12a3e5af19 | 78 | * @param tauD - Tuning parameter |
aberk | 0:6e12a3e5af19 | 79 | * @param interval PID calculation performed every interval seconds. |
aberk | 0:6e12a3e5af19 | 80 | */ |
kenjiArai | 1:ca4077d72c94 | 81 | PID(double Kc, double tauI, double tauD, double interval); |
aberk | 0:6e12a3e5af19 | 82 | |
aberk | 0:6e12a3e5af19 | 83 | /** |
aberk | 0:6e12a3e5af19 | 84 | * Scale from inputs to 0-100%. |
aberk | 0:6e12a3e5af19 | 85 | * |
aberk | 0:6e12a3e5af19 | 86 | * @param InMin The real world value corresponding to 0%. |
aberk | 0:6e12a3e5af19 | 87 | * @param InMax The real world value corresponding to 100%. |
aberk | 0:6e12a3e5af19 | 88 | */ |
kenjiArai | 1:ca4077d72c94 | 89 | void setInputLimits(double inMin , double inMax); |
aberk | 0:6e12a3e5af19 | 90 | |
aberk | 0:6e12a3e5af19 | 91 | /** |
aberk | 0:6e12a3e5af19 | 92 | * Scale from outputs to 0-100%. |
aberk | 0:6e12a3e5af19 | 93 | * |
aberk | 0:6e12a3e5af19 | 94 | * @param outMin The real world value corresponding to 0%. |
aberk | 0:6e12a3e5af19 | 95 | * @param outMax The real world value corresponding to 100%. |
aberk | 0:6e12a3e5af19 | 96 | */ |
kenjiArai | 1:ca4077d72c94 | 97 | void setOutputLimits(double outMin, double outMax); |
aberk | 0:6e12a3e5af19 | 98 | |
aberk | 0:6e12a3e5af19 | 99 | /** |
aberk | 0:6e12a3e5af19 | 100 | * Calculate PID constants. |
aberk | 0:6e12a3e5af19 | 101 | * |
aberk | 0:6e12a3e5af19 | 102 | * Allows parameters to be changed on the fly without ruining calculations. |
aberk | 0:6e12a3e5af19 | 103 | * |
aberk | 0:6e12a3e5af19 | 104 | * @param Kc - Tuning parameter |
aberk | 0:6e12a3e5af19 | 105 | * @param tauI - Tuning parameter |
aberk | 0:6e12a3e5af19 | 106 | * @param tauD - Tuning parameter |
aberk | 0:6e12a3e5af19 | 107 | */ |
kenjiArai | 1:ca4077d72c94 | 108 | void setTunings(double Kc, double tauI, double tauD); |
aberk | 0:6e12a3e5af19 | 109 | |
aberk | 0:6e12a3e5af19 | 110 | /** |
aberk | 0:6e12a3e5af19 | 111 | * Reinitializes controller internals. Automatically |
aberk | 0:6e12a3e5af19 | 112 | * called on a manual to auto transition. |
aberk | 0:6e12a3e5af19 | 113 | */ |
aberk | 0:6e12a3e5af19 | 114 | void reset(void); |
aberk | 0:6e12a3e5af19 | 115 | |
aberk | 0:6e12a3e5af19 | 116 | /** |
aberk | 0:6e12a3e5af19 | 117 | * Set PID to manual or auto mode. |
aberk | 0:6e12a3e5af19 | 118 | * |
aberk | 0:6e12a3e5af19 | 119 | * @param mode 0 -> Manual |
aberk | 0:6e12a3e5af19 | 120 | * Non-zero -> Auto |
aberk | 0:6e12a3e5af19 | 121 | */ |
aberk | 0:6e12a3e5af19 | 122 | void setMode(int mode); |
aberk | 0:6e12a3e5af19 | 123 | |
aberk | 0:6e12a3e5af19 | 124 | /** |
aberk | 0:6e12a3e5af19 | 125 | * Set how fast the PID loop is run. |
aberk | 0:6e12a3e5af19 | 126 | * |
aberk | 0:6e12a3e5af19 | 127 | * @param interval PID calculation peformed every interval seconds. |
aberk | 0:6e12a3e5af19 | 128 | */ |
kenjiArai | 1:ca4077d72c94 | 129 | void setInterval(double interval); |
aberk | 0:6e12a3e5af19 | 130 | |
aberk | 0:6e12a3e5af19 | 131 | /** |
aberk | 0:6e12a3e5af19 | 132 | * Set the set point. |
aberk | 0:6e12a3e5af19 | 133 | * |
aberk | 0:6e12a3e5af19 | 134 | * @param sp The set point as a real world value. |
aberk | 0:6e12a3e5af19 | 135 | */ |
kenjiArai | 1:ca4077d72c94 | 136 | void setSetPoint(double sp); |
aberk | 0:6e12a3e5af19 | 137 | |
aberk | 0:6e12a3e5af19 | 138 | /** |
aberk | 0:6e12a3e5af19 | 139 | * Set the process value. |
aberk | 0:6e12a3e5af19 | 140 | * |
aberk | 0:6e12a3e5af19 | 141 | * @param pv The process value as a real world value. |
aberk | 0:6e12a3e5af19 | 142 | */ |
kenjiArai | 1:ca4077d72c94 | 143 | void setProcessValue(double pv); |
aberk | 0:6e12a3e5af19 | 144 | |
aberk | 0:6e12a3e5af19 | 145 | /** |
aberk | 0:6e12a3e5af19 | 146 | * Set the bias. |
aberk | 0:6e12a3e5af19 | 147 | * |
aberk | 0:6e12a3e5af19 | 148 | * @param bias The bias for the controller output. |
aberk | 0:6e12a3e5af19 | 149 | */ |
kenjiArai | 1:ca4077d72c94 | 150 | void setBias(double bias); |
aberk | 0:6e12a3e5af19 | 151 | |
aberk | 0:6e12a3e5af19 | 152 | /** |
aberk | 0:6e12a3e5af19 | 153 | * PID calculation. |
aberk | 0:6e12a3e5af19 | 154 | * |
kenjiArai | 1:ca4077d72c94 | 155 | * @return The controller output as a double between outMin and outMax. |
aberk | 0:6e12a3e5af19 | 156 | */ |
kenjiArai | 1:ca4077d72c94 | 157 | double compute(void); |
aberk | 0:6e12a3e5af19 | 158 | |
aberk | 0:6e12a3e5af19 | 159 | //Getters. |
kenjiArai | 1:ca4077d72c94 | 160 | double getInMin(); |
kenjiArai | 1:ca4077d72c94 | 161 | double getInMax(); |
kenjiArai | 1:ca4077d72c94 | 162 | double getOutMin(); |
kenjiArai | 1:ca4077d72c94 | 163 | double getOutMax(); |
kenjiArai | 1:ca4077d72c94 | 164 | double getInterval(); |
kenjiArai | 1:ca4077d72c94 | 165 | double getPParam(); |
kenjiArai | 1:ca4077d72c94 | 166 | double getIParam(); |
kenjiArai | 1:ca4077d72c94 | 167 | double getDParam(); |
aberk | 0:6e12a3e5af19 | 168 | |
aberk | 0:6e12a3e5af19 | 169 | private: |
aberk | 0:6e12a3e5af19 | 170 | |
aberk | 0:6e12a3e5af19 | 171 | bool usingFeedForward; |
aberk | 0:6e12a3e5af19 | 172 | bool inAuto; |
aberk | 0:6e12a3e5af19 | 173 | |
aberk | 0:6e12a3e5af19 | 174 | //Actual tuning parameters used in PID calculation. |
kenjiArai | 1:ca4077d72c94 | 175 | double Kc_; |
kenjiArai | 1:ca4077d72c94 | 176 | double tauR_; |
kenjiArai | 1:ca4077d72c94 | 177 | double tauD_; |
aberk | 0:6e12a3e5af19 | 178 | |
aberk | 0:6e12a3e5af19 | 179 | //Raw tuning parameters. |
kenjiArai | 1:ca4077d72c94 | 180 | double pParam_; |
kenjiArai | 1:ca4077d72c94 | 181 | double iParam_; |
kenjiArai | 1:ca4077d72c94 | 182 | double dParam_; |
aberk | 0:6e12a3e5af19 | 183 | |
aberk | 0:6e12a3e5af19 | 184 | //The point we want to reach. |
kenjiArai | 1:ca4077d72c94 | 185 | double setPoint_; |
aberk | 0:6e12a3e5af19 | 186 | //The thing we measure. |
kenjiArai | 1:ca4077d72c94 | 187 | double processVariable_; |
kenjiArai | 1:ca4077d72c94 | 188 | double prevProcessVariable_; |
aberk | 0:6e12a3e5af19 | 189 | //The output that affects the process variable. |
kenjiArai | 1:ca4077d72c94 | 190 | double controllerOutput_; |
kenjiArai | 1:ca4077d72c94 | 191 | double prevControllerOutput_; |
aberk | 0:6e12a3e5af19 | 192 | |
aberk | 0:6e12a3e5af19 | 193 | //We work in % for calculations so these will scale from |
aberk | 0:6e12a3e5af19 | 194 | //real world values to 0-100% and back again. |
kenjiArai | 1:ca4077d72c94 | 195 | double inMin_; |
kenjiArai | 1:ca4077d72c94 | 196 | double inMax_; |
kenjiArai | 1:ca4077d72c94 | 197 | double inSpan_; |
kenjiArai | 1:ca4077d72c94 | 198 | double outMin_; |
kenjiArai | 1:ca4077d72c94 | 199 | double outMax_; |
kenjiArai | 1:ca4077d72c94 | 200 | double outSpan_; |
aberk | 0:6e12a3e5af19 | 201 | |
aberk | 0:6e12a3e5af19 | 202 | //The accumulated error, i.e. integral. |
kenjiArai | 1:ca4077d72c94 | 203 | double accError_; |
aberk | 0:6e12a3e5af19 | 204 | //The controller output bias. |
kenjiArai | 1:ca4077d72c94 | 205 | double bias_; |
aberk | 0:6e12a3e5af19 | 206 | |
aberk | 0:6e12a3e5af19 | 207 | //The interval between samples. |
kenjiArai | 1:ca4077d72c94 | 208 | double tSample_; |
aberk | 0:6e12a3e5af19 | 209 | |
aberk | 0:6e12a3e5af19 | 210 | //Controller output as a real world value. |
kenjiArai | 1:ca4077d72c94 | 211 | volatile double realOutput_; |
aberk | 0:6e12a3e5af19 | 212 | |
aberk | 0:6e12a3e5af19 | 213 | }; |
aberk | 0:6e12a3e5af19 | 214 | |
aberk | 0:6e12a3e5af19 | 215 | #endif /* PID_H */ |