Li Weiyi / Mbed 2 deprecated BalanceCar

虽然移植完毕，但是不work。需要细调……

Dependencies:   mbed

PID_v2.h@3:c6caae712d5d, 2016-06-07 (annotated)

Committer:
lixianyu
Date:
Tue Jun 07 08:14:15 2016 +0000
Revision:
3:c6caae712d5d
Parent:
0:a4d8f5b3c546 
??????????work? ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:a4d8f5b3c546 1 #ifndef PID_v2_h
lixianyu 0:a4d8f5b3c546 2 #define PID_v2_h
lixianyu 0:a4d8f5b3c546 3 #define LIBRARY_VERSION 1.1.2
lixianyu 0:a4d8f5b3c546 4
lixianyu 0:a4d8f5b3c546 5 class PID
lixianyu 0:a4d8f5b3c546 6 {
lixianyu 0:a4d8f5b3c546 7
lixianyu 0:a4d8f5b3c546 8
lixianyu 0:a4d8f5b3c546 9 public:
lixianyu 0:a4d8f5b3c546 10
lixianyu 0:a4d8f5b3c546 11 //Constants used in some of the functions below
lixianyu 0:a4d8f5b3c546 12 #define AUTOMATIC 1
lixianyu 0:a4d8f5b3c546 13 #define MANUAL 0
lixianyu 0:a4d8f5b3c546 14 #define DIRECT 0
lixianyu 0:a4d8f5b3c546 15 #define REVERSE 1
lixianyu 0:a4d8f5b3c546 16
lixianyu 0:a4d8f5b3c546 17 //commonly used functions **************************************************************************
lixianyu 0:a4d8f5b3c546 18 PID(double, double, double, int); // Setpoint. Initial tuning parameters are also set here
lixianyu 0:a4d8f5b3c546 19
lixianyu 0:a4d8f5b3c546 20 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
lixianyu 0:a4d8f5b3c546 21
lixianyu 0:a4d8f5b3c546 22 float Compute(float, float); // * performs the PID calculation. it should be
lixianyu 0:a4d8f5b3c546 23 // called every time loop() cycles. ON/OFF and
lixianyu 0:a4d8f5b3c546 24 // calculation frequency can be set using SetMode
lixianyu 0:a4d8f5b3c546 25 // SetSampleTime respectively
lixianyu 0:a4d8f5b3c546 26
lixianyu 0:a4d8f5b3c546 27 void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
lixianyu 0:a4d8f5b3c546 28 //it's likely the user will want to change this depending on
lixianyu 0:a4d8f5b3c546 29 //the application
lixianyu 0:a4d8f5b3c546 30
lixianyu 0:a4d8f5b3c546 31
lixianyu 0:a4d8f5b3c546 32 void SetITermLimits(double, double);
lixianyu 0:a4d8f5b3c546 33 //available but not commonly used functions ********************************************************
lixianyu 0:a4d8f5b3c546 34 void SetTunings(double, double, // * While most users will set the tunings once in the
lixianyu 0:a4d8f5b3c546 35 double); // constructor, this function gives the user the option
lixianyu 0:a4d8f5b3c546 36 // of changing tunings during runtime for Adaptive control
lixianyu 0:a4d8f5b3c546 37 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
lixianyu 0:a4d8f5b3c546 38 // means the output will increase when error is positive. REVERSE
lixianyu 0:a4d8f5b3c546 39 // means the opposite. it's very unlikely that this will be needed
lixianyu 0:a4d8f5b3c546 40 // once it is set in the constructor.
lixianyu 0:a4d8f5b3c546 41 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
lixianyu 0:a4d8f5b3c546 42 // the PID calculation is performed. default is 100
lixianyu 0:a4d8f5b3c546 43
lixianyu 0:a4d8f5b3c546 44
lixianyu 0:a4d8f5b3c546 45
lixianyu 0:a4d8f5b3c546 46 //Display functions ****************************************************************
lixianyu 0:a4d8f5b3c546 47 double GetKp(); // These functions query the pid for interal values.
lixianyu 0:a4d8f5b3c546 48 double GetKi(); // they were created mainly for the pid front-end,
lixianyu 0:a4d8f5b3c546 49 double GetKd(); // where it's important to know what is actually
lixianyu 0:a4d8f5b3c546 50 int GetMode(); // inside the PID.
lixianyu 0:a4d8f5b3c546 51 int GetDirection(); //
lixianyu 0:a4d8f5b3c546 52
lixianyu 0:a4d8f5b3c546 53 private:
lixianyu 0:a4d8f5b3c546 54 void Initialize();
lixianyu 0:a4d8f5b3c546 55
lixianyu 0:a4d8f5b3c546 56 double dispKp; // * we'll hold on to the tuning parameters in user-entered
lixianyu 0:a4d8f5b3c546 57 double dispKi; // format for display purposes
lixianyu 0:a4d8f5b3c546 58 double dispKd; //
lixianyu 0:a4d8f5b3c546 59
lixianyu 0:a4d8f5b3c546 60 double kp; // * (P)roportional Tuning Parameter
lixianyu 0:a4d8f5b3c546 61 double ki; // * (I)ntegral Tuning Parameter
lixianyu 0:a4d8f5b3c546 62 double kd; // * (D)erivative Tuning Parameter
lixianyu 0:a4d8f5b3c546 63
lixianyu 0:a4d8f5b3c546 64 int controllerDirection;
lixianyu 0:a4d8f5b3c546 65
lixianyu 0:a4d8f5b3c546 66 float *myInput; // * Pointers to the Input, Output, and Setpoint variables
lixianyu 0:a4d8f5b3c546 67 float *myOutput; // This creates a hard link between the variables and the
lixianyu 0:a4d8f5b3c546 68 float *mySetpoint; // PID, freeing the user from having to constantly tell us
lixianyu 0:a4d8f5b3c546 69 // what these values are. with pointers we'll just know.
lixianyu 0:a4d8f5b3c546 70
lixianyu 0:a4d8f5b3c546 71 unsigned long lastTime;
lixianyu 0:a4d8f5b3c546 72 double ITerm, lastInput;
lixianyu 0:a4d8f5b3c546 73
lixianyu 0:a4d8f5b3c546 74 unsigned long SampleTime;
lixianyu 0:a4d8f5b3c546 75 double outMin, outMax;
lixianyu 0:a4d8f5b3c546 76 double errorMin, errorMax;
lixianyu 0:a4d8f5b3c546 77 bool inAuto;
lixianyu 0:a4d8f5b3c546 78 };
lixianyu 0:a4d8f5b3c546 79 #endif
lixianyu 0:a4d8f5b3c546 80
lixianyu 0:a4d8f5b3c546 81