NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: PID/PID.h
- Revision:
- 29:8b7362a2ee14
- Child:
- 30:021e13b62575
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID/PID.h Sat Dec 15 08:42:36 2012 +0000
@@ -0,0 +1,25 @@
+#include "mbed.h"
+
+#ifndef PID_H
+#define PID_H
+
+class PID {
+ public:
+ PID(float P, float I, float D, float Integral_Max);
+ float compute(float SetPoint, float ProcessValue);
+ void setIntegrate(bool Integrate);
+
+ private:
+ float P,I,D; // PID Values
+
+ Timer dtTimer; // Timer to measure time between every compute
+ float LastTime; // Time when last loop was
+
+ float SetPoint; // the Point you want to reach
+ float Integral; // the sum of all errors (constaind so it doesn't get infinite)
+ float Integral_Max; // maximum that the sum of all errors can get (not important: last error not counted)
+ float PreviousError; // the Error of the last computation to get derivative
+ bool Integrate; // if the integral is used / the controller is in use
+};
+
+#endif
\ No newline at end of file
Matthias Grob
