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Dependencies:   mbed

Dependents:   fluy343

PID/PID.h@1:5e2b81f2d0b4, 2013-09-08 (annotated)

Committer:
maetugr
Date:
Sun Sep 08 20:53:33 2013 +0000
Revision:
1:5e2b81f2d0b4
Parent:
0:12950aa67f2a
Child:
2:03e5f7ab473f
D only with Gyro as source is very stable on one axis;; next changing the PID class to get only gyro input for derivative

Who changed what in which revision?

UserRevisionLine numberNew 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 1:5e2b81f2d0b4 8 #define CONSTRAIN(VAL,LIMIT) ((VAL)<(-LIMIT)?(-LIMIT):((VAL)>(LIMIT)?(LIMIT):(VAL)))
maetugr 0:12950aa67f2a 9
maetugr 0:12950aa67f2a 10 class PID {
maetugr 0:12950aa67f2a 11 public:
maetugr 0:12950aa67f2a 12 PID(float P, float I, float D, float Integral_Max);
maetugr 0:12950aa67f2a 13 float compute(float SetPoint, float ProcessValue);
maetugr 0:12950aa67f2a 14 void setIntegrate(bool Integrate);
maetugr 0:12950aa67f2a 15 void setPID(float P, float I, float D);
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 float PreviousError; // the Error of the last computation to get derivative
maetugr 0:12950aa67f2a 26 bool Integrate; // if the integral is used / the controller is in use
maetugr 0:12950aa67f2a 27 };
maetugr 0:12950aa67f2a 28
maetugr 0:12950aa67f2a 29 #endif