Proportional, integral, derivative controller library. Ported from the Arduino PID library by Brett Beauregard.
Fork of PID by
Diff: PID.cpp
- Revision:
- 1:0ffb635770b3
- Parent:
- 0:6e12a3e5af19
--- a/PID.cpp Thu Sep 02 16:48:10 2010 +0000 +++ b/PID.cpp Thu Nov 03 17:15:10 2016 +0000 @@ -1,52 +1,3 @@ -/** - * @author Aaron Berk - * - * @section LICENSE - * - * Copyright (c) 2010 ARM Limited - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - * - * @section DESCRIPTION - * - * A PID controller is a widely used feedback controller commonly found in - * industry. - * - * This library is a port of Brett Beauregard's Arduino PID library: - * - * http://www.arduino.cc/playground/Code/PIDLibrary - * - * The wikipedia article on PID controllers is a good place to start on - * understanding how they work: - * - * http://en.wikipedia.org/wiki/PID_controller - * - * For a clear and elegant explanation of how to implement and tune a - * controller, the controlguru website by Douglas J. Cooper (who also happened - * to be Brett's controls professor) is an excellent reference: - * - * http://www.controlguru.com/ - */ - -/** - * Includes - */ #include "PID.h" PID::PID(float Kc, float tauI, float tauD, float interval) { @@ -54,11 +5,8 @@ usingFeedForward = false; inAuto = false; - //Default the limits to the full range of I/O: 3.3V - //Make sure to set these to more appropriate limits for - //your application. - setInputLimits(0.0, 3.3); - setOutputLimits(0.0, 3.3); + setInputLimits(-90.0,90.0 ); + setOutputLimits(-3500.0, 3500.0); tSample_ = interval; @@ -74,7 +22,6 @@ bias_ = 0.0; realOutput_ = 0.0; - } void PID::setInputLimits(float inMin, float inMax) {