ケンタ ミヤザキ / PID

　

Dependents:   nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more

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API Documentation at this revision

Revision 3:3bc8034f569e, committed 2018-03-24

Comitter:
kenken0721
Date:
Sat Mar 24 10:50:11 2018 +0000
Parent:
2:09a00a9407f8
Commit message:

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file
PID.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 09a00a9407f8 -r 3bc8034f569e PID.cpp
--- a/PID.cpp	Wed Mar 21 06:51:29 2018 +0000
+++ b/PID.cpp	Sat Mar 24 10:50:11 2018 +0000
@@ -10,20 +10,20 @@
 }
 
 void PID::init(){
-  timer.reset();
-  timer.start();
-  preTime = 0;
+  //timer.reset();
+  //timer.start();
+  preP = 0;
   P = 0;
   I = 0;
   D = 0;
 }
 
 double PID::compute(double input){
-    dt = (timer.read_us() - preTime) / 10000;
-    preTime = timer.read_us();
+    //dt = timer.read_ms() / 10;
+    //timer.reset();
     P  = Setpoint - input;
-    I += P * dt;
-    D  = (P - preP) / dt;
+    I += P;
+    D  = (P - preP);
     preP = P;
     return (KP * P + KI * I + KD * D);
 }

diff -r 09a00a9407f8 -r 3bc8034f569e PID.h
--- a/PID.h	Wed Mar 21 06:51:29 2018 +0000
+++ b/PID.h	Sat Mar 24 10:50:11 2018 +0000
@@ -5,13 +5,12 @@
 
 class PID {
 private:
-    Timer timer;
+    //Timer timer;
     double Setpoint;
     double KP;
     double KI;
     double KD;
-    unsigned long dt;
-    unsigned long preTime;
+    //unsigned long dt;
     double P;
     double I;
     double D;