Li Weiyi
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BalanceCar
虽然移植完毕,但是不work。需要细调……
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PID_v2.h
00001 #ifndef PID_v2_h 00002 #define PID_v2_h 00003 #define LIBRARY_VERSION 1.1.2 00004 00005 class PID 00006 { 00007 00008 00009 public: 00010 00011 //Constants used in some of the functions below 00012 #define AUTOMATIC 1 00013 #define MANUAL 0 00014 #define DIRECT 0 00015 #define REVERSE 1 00016 00017 //commonly used functions ************************************************************************** 00018 PID(double, double, double, int); // Setpoint. Initial tuning parameters are also set here 00019 00020 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) 00021 00022 float Compute(float, float); // * performs the PID calculation. it should be 00023 // called every time loop() cycles. ON/OFF and 00024 // calculation frequency can be set using SetMode 00025 // SetSampleTime respectively 00026 00027 void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but 00028 //it's likely the user will want to change this depending on 00029 //the application 00030 00031 00032 void SetITermLimits(double, double); 00033 //available but not commonly used functions ******************************************************** 00034 void SetTunings(double, double, // * While most users will set the tunings once in the 00035 double); // constructor, this function gives the user the option 00036 // of changing tunings during runtime for Adaptive control 00037 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT 00038 // means the output will increase when error is positive. REVERSE 00039 // means the opposite. it's very unlikely that this will be needed 00040 // once it is set in the constructor. 00041 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which 00042 // the PID calculation is performed. default is 100 00043 00044 00045 00046 //Display functions **************************************************************** 00047 double GetKp(); // These functions query the pid for interal values. 00048 double GetKi(); // they were created mainly for the pid front-end, 00049 double GetKd(); // where it's important to know what is actually 00050 int GetMode(); // inside the PID. 00051 int GetDirection(); // 00052 00053 private: 00054 void Initialize(); 00055 00056 double dispKp; // * we'll hold on to the tuning parameters in user-entered 00057 double dispKi; // format for display purposes 00058 double dispKd; // 00059 00060 double kp; // * (P)roportional Tuning Parameter 00061 double ki; // * (I)ntegral Tuning Parameter 00062 double kd; // * (D)erivative Tuning Parameter 00063 00064 int controllerDirection; 00065 00066 float *myInput; // * Pointers to the Input, Output, and Setpoint variables 00067 float *myOutput; // This creates a hard link between the variables and the 00068 float *mySetpoint; // PID, freeing the user from having to constantly tell us 00069 // what these values are. with pointers we'll just know. 00070 00071 unsigned long lastTime; 00072 double ITerm, lastInput; 00073 00074 unsigned long SampleTime; 00075 double outMin, outMax; 00076 double errorMin, errorMax; 00077 bool inAuto; 00078 }; 00079 #endif 00080 00081
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