Junjie Wang / Mbed OS a_NYP_humanoid_copy

NYP_Humanoid_robot_FYP_2018

Dependencies:   LSM6DSL

Fork of b_NYP_humanoid by Junjie Wang

control.h@4:99891561a38b, 2018-05-25 (annotated)

Committer:
mr_wang
Date:
Fri May 25 09:00:15 2018 +0000
Revision:
4:99891561a38b
NYP_DAD

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mr_wang 4:99891561a38b 1 #ifndef __CONTROL_H
mr_wang 4:99891561a38b 2 #define __CONTROL_H
mr_wang 4:99891561a38b 3
mr_wang 4:99891561a38b 4 #define CONTROL_MODE_NONE 0
mr_wang 4:99891561a38b 5 #define CONTROL_MODE_ONOFF 1
mr_wang 4:99891561a38b 6 #define CONTROL_MODE_P 2
mr_wang 4:99891561a38b 7 #define CONTROL_MODE_PI 3
mr_wang 4:99891561a38b 8 #define CONTROL_MODE_PD 4
mr_wang 4:99891561a38b 9 #define CONTROL_MODE_PID 5
mr_wang 4:99891561a38b 10
mr_wang 4:99891561a38b 11 typedef struct{
mr_wang 4:99891561a38b 12 unsigned char input;
mr_wang 4:99891561a38b 13
mr_wang 4:99891561a38b 14 double presentvalue;
mr_wang 4:99891561a38b 15
mr_wang 4:99891561a38b 16 double setpoint;
mr_wang 4:99891561a38b 17
mr_wang 4:99891561a38b 18 double upperlimit;
mr_wang 4:99891561a38b 19 double lowerlimit;
mr_wang 4:99891561a38b 20
mr_wang 4:99891561a38b 21 double upperdeadband;
mr_wang 4:99891561a38b 22 double lowerdeadband;
mr_wang 4:99891561a38b 23
mr_wang 4:99891561a38b 24 unsigned char mode;
mr_wang 4:99891561a38b 25 double gain_p;
mr_wang 4:99891561a38b 26 double gain_i;
mr_wang 4:99891561a38b 27 double gain_d;
mr_wang 4:99891561a38b 28
mr_wang 4:99891561a38b 29 double error;
mr_wang 4:99891561a38b 30 double error_p;
mr_wang 4:99891561a38b 31 double error_i;
mr_wang 4:99891561a38b 32 double error_d;
mr_wang 4:99891561a38b 33
mr_wang 4:99891561a38b 34 double output;
mr_wang 4:99891561a38b 35 }CONTROLLER;
mr_wang 4:99891561a38b 36
mr_wang 4:99891561a38b 37 void CONTROL_InputMode_Set(CONTROLLER* control, unsigned char input, double mode);
mr_wang 4:99891561a38b 38 void CONTROL_Setpoint_Set(CONTROLLER* control, double sp);
mr_wang 4:99891561a38b 39 void CONTROL_Gain_Set(CONTROLLER* control, double p, double i, double d);
mr_wang 4:99891561a38b 40 void CONTROL_Limit_Set(CONTROLLER* control, double upper, double lower);
mr_wang 4:99891561a38b 41 void CONTROL_Deadband_Set(CONTROLLER* control, double upper, double lower);
mr_wang 4:99891561a38b 42 void CONTROL_PresentValue_Set(CONTROLLER* control, double pv);
mr_wang 4:99891561a38b 43 double CONTROL_Output_Get(CONTROLLER* control);
mr_wang 4:99891561a38b 44
mr_wang 4:99891561a38b 45 void CONTROL_OnOff(CONTROLLER* control);
mr_wang 4:99891561a38b 46 void CONTROL_P(CONTROLLER* control);
mr_wang 4:99891561a38b 47 void CONTROL_PID(CONTROLLER* control);
mr_wang 4:99891561a38b 48 void CONTROL_PI(CONTROLLER* control);
mr_wang 4:99891561a38b 49 void CONTROL_PD(CONTROLLER* control);
mr_wang 4:99891561a38b 50
mr_wang 4:99891561a38b 51 void CONTROL_Config(void);
mr_wang 4:99891561a38b 52 void CONTROL_Task(void);
mr_wang 4:99891561a38b 53
mr_wang 4:99891561a38b 54 #endif