File content as of revision 7:66e3f3fd08d8:

/**
 * @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(const PID& p)
{
    timer = p.timer;
    data = 0;
    bias=0;
    
    intF = false;
    diffF = false;
    propF = false;
    GAIN_P = p.GAIN_P;
    GAIN_I = p.GAIN_I;
    GAIN_D = p.GAIN_D;
    setInterval(0.01);
    s_dErrIntg=0;
    dErr_prev=0;OutputLimits(1,0);
}
PID::PID(float tauKp, float tauKi, float tauKd,Timer *T)
{
    timer=T;
    data = 0;
    bias=0;
    GAIN_P = tauKp;
    GAIN_I = tauKi;
    GAIN_D = tauKd;
    setInterval(0.01);
    s_dErrIntg=0;
    dErr_prev=0;OutputLimits(1,0);
}

void PID::InputLimits(float max,float min)
{
    //Make sure we haven't been given impossible values.
    if (min >= max) {
        return;
    }


    InMin  = min;
    InMax  = max;
    InSpan = InMax - InMin;
}
void PID::OutputLimits(float max,float min)
{
    if (min >= max) {
        return;
    }


    OutMin  = min;
    OutMax  = max;
    OutSpan = OutMax - OutMin;
}
void PID::setInterval(float inter)
{
    interval = inter;
    //start();
}
void PID::start()
{
    timer->start();
    T.attach(this,&PID::PIDctrl,interval);
    //printf("PID statr\n");
    //wait(0.1);
    //PIDctrl();

}
void PID::stop()
{
    timer->stop();
    //T.detach();
}

void PID::pid_reset()
{
    dTarget=0;
    dPoint=0;
    // PI制御ゲイン
    data=0;
    s_dErrIntg=0 ,dErr_prev=0;
}
void PID::PIDctrl()
{
    double dErr;
    double dRet;

    // 誤差
    dErr = dTarget - dPoint;
    float T=gettime();
    //printf("%f\t",T);
    double dErrDiff;
    // 誤差積分
    /*if(GAIN_I*s_dErrIntg>OutMax)s_dErrIntg=GAIN_I*OutMax;
    else if(GAIN_I*s_dErrIntg<OutMin)s_dErrIntg=GAIN_I*OutMin;
    else */
    s_dErrIntg += (dErr+dErr_prev )* T /2.0;
    // 制御入力
    dRet = bias + GAIN_P * (propF == true ? userProp : dErr) + 
        GAIN_I * (intF == true ? userInt : s_dErrIntg) - 
        GAIN_D * (diffF == true ? userDiff : dErrDiff);
    
    dErr_prev = dErr;
    dErrDiff = (dErr-data)/T;
    if(dRet>OutMax)data=OutMax;
    else if(dRet<OutMin)data=OutMin;
    else data = dRet;
    
    //printf("PID %3.3f %3.3f %3.3f %3.3f %3.3f\r\n",data ,GAIN_P*dErr,GAIN_I*s_dErrIntg,GAIN_D*dErrDiff,T);
    
}