miki sumito / Mbed 2 deprecated four_wheel_omni

四輪オムニの足回りを動かすプログラム

Dependencies:   mbed

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Show/hide line numbers PID.cpp Source File

PID.cpp

00001 #include "PID.hpp"
00002 PID::PID(double kp,double ki,double kd,double dt) : Kp(kp),Ki(ki),Kd(kd),dt(dt)
00003 {
00004     pwm = 0;
00005     e[0] = 0;
00006     e[1] = 0;
00007     integral = 0;
00008 }
00009 
00010 double PID::set(double nowvalue,double tar)
00011 {
00012     e[1] = tar - nowvalue;
00013     integral += (e[0] + e[1]) * dt / 2;
00014     getP = e[1];
00015     getI = integral;
00016     getD = (e[1] - e[0]) / dt;
00017     pwm += (getP * Kp) + (getI * Ki) + (getD * Kd);
00018     e[0] = e[1];
00019     return pwm;
00020 }
00021 
00022 void PID::safety(double max,double min)
00023 {
00024     pwm >= max ? pwm = max : pwm = pwm;
00025     pwm <= min ? pwm = min : pwm = pwm;
00026 }
00027 
00028 void PID::reset()
00029 {
00030     pwm = 0;
00031 }
00032 
00033 PID::~PID(){};
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