Diff: PID/PID.cpp

Revision:

4:4060309b9cc0

Parent:

3:27407c4984cf

Child:

5:7b02775787a9

--- a/PID/PID.cpp	Thu Feb 13 16:07:07 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,56 +0,0 @@
-#include "mbed.h"
-#include "SerialLcd.h"
-#include "PID.h"
-
-PID::PID()
-{   
-    interval = 0.05;
-    differential_limit = 200;
-    pid_limit = 300;
-    kp = 0.5;
-    ki = 0.5;
-    kd = 0.2;
-    integral = 0;
-    old = 0;
-}
-
-void PID::init(float KP,float KI,float KD,float PID_LIM,float DIFFERENTIAL_LIM)
-{   
-//    interval = INTERVAL;
-    pid_limit = PID_LIM;
-    differential_limit = DIFFERENTIAL_LIM;
-    kp = KP;
-    ki = KI;
-    kd = KD;
-    integral = 0;
-    old = 0;    
-}
-
-float PID::calc(float value,float target,float interval) 
-{
-    float differential;
-    cur = value - target;
-//    if ( (old >= 0 && cur <= 0) || (old <= 0 && cur >= 0) || fabsf(cur) < 1 )
-//        integral = 0;
-    integral += ( cur + old ) * interval * 0.5f;
-//    if ( integral < -differential_limit ) integral = -differential_limit;
-//    if ( integral > integral_limit ) integral = integral_limit;
-    differential = ( kd * ( cur - old ) / interval );
-    if ( differential < -differential_limit ) differential = -differential_limit;
-    if ( differential > differential_limit ) differential = differential_limit;
-    float pid = ( kp * cur ) + ( ki * integral ) + differential;
-    if ( pid < -pid_limit ) pid = -pid_limit;
-    if ( pid > pid_limit ) pid = pid_limit;
-    old = cur;
-    return pid;
-}
-
-void PID::reset()
-{
-    integral = 0;
-    old = 0;
-}
-;
-
-
-