Matthias Grob
My fully self designed first stable working Quadrocopter Software.
PID/PID.h@10:14390c90c3f5, 2015-08-31 (annotated)
- Committer:
- maetugr
- Date:
- Mon Aug 31 20:20:50 2015 +0000
- Revision:
- 10:14390c90c3f5
- Parent:
- 7:ac2895479e34
before changing to MPU9250
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| maetugr | 0:12950aa67f2a | 1 | // by MaEtUgR |
| maetugr | 0:12950aa67f2a | 2 | |
| maetugr | 1:5e2b81f2d0b4 | 3 | #ifndef PID_H |
| maetugr | 1:5e2b81f2d0b4 | 4 | #define PID_H |
| maetugr | 1:5e2b81f2d0b4 | 5 | |
| maetugr | 0:12950aa67f2a | 6 | #include "mbed.h" |
| maetugr | 0:12950aa67f2a | 7 | |
| maetugr | 0:12950aa67f2a | 8 | class PID { |
| maetugr | 0:12950aa67f2a | 9 | public: |
| maetugr | 0:12950aa67f2a | 10 | PID(float P, float I, float D, float Integral_Max); |
| maetugr | 7:ac2895479e34 | 11 | float compute(float SetPoint, float ProcessValue); |
| maetugr | 0:12950aa67f2a | 12 | void setIntegrate(bool Integrate); |
| maetugr | 0:12950aa67f2a | 13 | void setPID(float P, float I, float D); |
| maetugr | 2:03e5f7ab473f | 14 | |
| maetugr | 2:03e5f7ab473f | 15 | float Value; |
| maetugr | 0:12950aa67f2a | 16 | |
| maetugr | 0:12950aa67f2a | 17 | private: |
| maetugr | 1:5e2b81f2d0b4 | 18 | float P, I, D; // PID Values and limits |
| maetugr | 0:12950aa67f2a | 19 | |
| maetugr | 0:12950aa67f2a | 20 | Timer dtTimer; // Timer to measure time between every compute |
| maetugr | 0:12950aa67f2a | 21 | float LastTime; // Time when last loop was |
| maetugr | 0:12950aa67f2a | 22 | |
| maetugr | 0:12950aa67f2a | 23 | float Integral; // the sum of all errors (constaind so it doesn't get infinite) |
| maetugr | 0:12950aa67f2a | 24 | float Integral_Max; // maximum that the sum of all errors can get (not important: last error not counted) |
| maetugr | 0:12950aa67f2a | 25 | bool Integrate; // if the integral is used / the controller is in use |
| maetugr | 2:03e5f7ab473f | 26 | |
| maetugr | 7:ac2895479e34 | 27 | float PreviousError; // the Error of the last computation to get derivative |
| maetugr | 0:12950aa67f2a | 28 | }; |
| maetugr | 0:12950aa67f2a | 29 | |
| maetugr | 0:12950aa67f2a | 30 | #endif |