Diff: PID.h

Revision:

1:aac6180820a4

Parent:

0:6e12a3e5af19

Child:

2:14176355508a

--- a/PID.h	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.h	Fri Jun 19 06:36:10 2015 +0000
@@ -1,213 +1,30 @@
-/**
- * @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/
- */
 
 #ifndef PID_H
 #define PID_H
 
-/**
- * Includes
- */
 #include "mbed.h"
-
-/**
- * Defines
- */
-#define MANUAL_MODE 0
-#define AUTO_MODE   1
-
-/**
- * Proportional-integral-derivative controller.
- */
-class PID {
-
-public:
-
-    /**
-     * Constructor.
-     *
-     * Sets default limits [0-3.3V], calculates tuning parameters, and sets
-     * manual mode with no bias.
-     *
-     * @param Kc - Tuning parameter
-     * @param tauI - Tuning parameter
-     * @param tauD - Tuning parameter
-     * @param interval PID calculation performed every interval seconds.
-     */
-    PID(float Kc, float tauI, float tauD, float interval);
-
-    /**
-     * Scale from inputs to 0-100%.
-     *
-     * @param InMin The real world value corresponding to 0%.
-     * @param InMax The real world value corresponding to 100%.
-     */
-    void setInputLimits(float inMin , float inMax);
-
-    /**
-     * Scale from outputs to 0-100%.
-     *
-     * @param outMin The real world value corresponding to 0%.
-     * @param outMax The real world value corresponding to 100%.
-     */
-    void setOutputLimits(float outMin, float outMax);
-
-    /**
-     * Calculate PID constants.
-     *
-     * Allows parameters to be changed on the fly without ruining calculations.
-     *
-     * @param Kc - Tuning parameter
-     * @param tauI - Tuning parameter
-     * @param tauD - Tuning parameter
-     */
-    void setTunings(float Kc, float tauI, float tauD);
-
-    /**
-     * Reinitializes controller internals. Automatically
-     * called on a manual to auto transition.
-     */
-    void reset(void);
-    
-    /**
-     * Set PID to manual or auto mode.
-     *
-     * @param mode        0 -> Manual
-     *             Non-zero -> Auto
-     */
-    void setMode(int mode);
-    
-    /**
-     * Set how fast the PID loop is run.
-     *
-     * @param interval PID calculation peformed every interval seconds.
-     */
-    void setInterval(float interval);
+class PID 
+{    
+    public:
+        
+        PID(float tauKc, float tauKi, float tauKd);
     
-    /**
-     * Set the set point.
-     *
-     * @param sp The set point as a real world value.
-     */
-    void setSetPoint(float sp);
-    
-    /**
-     * Set the process value.
-     *
-     * @param pv The process value as a real world value.
-     */
-    void setProcessValue(float pv);
-    
-    /**
-     * Set the bias.
-     *
-     * @param bias The bias for the controller output.
-     */
-    void setBias(float bias);
-
-    /**
-     * PID calculation.
-     *
-     * @return The controller output as a float between outMin and outMax.
-     */
-    float compute(void);
-
-    //Getters.
-    float getInMin();
-    float getInMax();
-    float getOutMin();
-    float getOutMax();
-    float getInterval();
-    float getPParam();
-    float getIParam();
-    float getDParam();
-
-private:
-
-    bool usingFeedForward;
-    bool inAuto;
-
-    //Actual tuning parameters used in PID calculation.
-    float Kc_;
-    float tauR_;
-    float tauD_;
-    
-    //Raw tuning parameters.
-    float pParam_;
-    float iParam_;
-    float dParam_;
-    
-    //The point we want to reach.
-    float setPoint_;         
-    //The thing we measure.
-    float processVariable_;  
-    float prevProcessVariable_;
-    //The output that affects the process variable.
-    float controllerOutput_; 
-    float prevControllerOutput_;
-
-    //We work in % for calculations so these will scale from
-    //real world values to 0-100% and back again.
-    float inMin_;
-    float inMax_;
-    float inSpan_;
-    float outMin_;
-    float outMax_;
-    float outSpan_;
-
-    //The accumulated error, i.e. integral.
-    float accError_;
-    //The controller output bias.
-    float bias_;
-
-    //The interval between samples.
-    float tSample_;          
-
-    //Controller output as a real world value.
-    volatile float realOutput_;
-
+        void PIDctrl(void);
+        void start();
+        void setInterval(double inter);
+        //Getters.
+        void stop();    
+        double dTarget; double dPoint;
+        // PI制御ゲイン
+        double GAIN_P ;//1.5 // 比例ｹﾞｲﾝ
+        double GAIN_I ;//2.8 // 積分ｹﾞｲﾝ
+        double GAIN_D ;//0.2 
+        double data;
+    private:
+        Timer timer;
+        Ticker T;
+        float interval;
+        
 };
 
-#endif /* PID_H */
+#endif 
\ No newline at end of file