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PID/PID.cpp@1:cc2a9eb0bd55, 2012-10-17 (annotated)
- Committer:
- narshu
- Date:
- Wed Oct 17 22:25:31 2012 +0000
- Revision:
- 1:cc2a9eb0bd55
Commit before publishing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 1:cc2a9eb0bd55 | 1 | /** |
narshu | 1:cc2a9eb0bd55 | 2 | * @author Aaron Berk |
narshu | 1:cc2a9eb0bd55 | 3 | * |
narshu | 1:cc2a9eb0bd55 | 4 | * @section LICENSE |
narshu | 1:cc2a9eb0bd55 | 5 | * |
narshu | 1:cc2a9eb0bd55 | 6 | * Copyright (c) 2010 ARM Limited |
narshu | 1:cc2a9eb0bd55 | 7 | * |
narshu | 1:cc2a9eb0bd55 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
narshu | 1:cc2a9eb0bd55 | 9 | * of this software and associated documentation files (the "Software"), to deal |
narshu | 1:cc2a9eb0bd55 | 10 | * in the Software without restriction, including without limitation the rights |
narshu | 1:cc2a9eb0bd55 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
narshu | 1:cc2a9eb0bd55 | 12 | * copies of the Software, and to permit persons to whom the Software is |
narshu | 1:cc2a9eb0bd55 | 13 | * furnished to do so, subject to the following conditions: |
narshu | 1:cc2a9eb0bd55 | 14 | * |
narshu | 1:cc2a9eb0bd55 | 15 | * The above copyright notice and this permission notice shall be included in |
narshu | 1:cc2a9eb0bd55 | 16 | * all copies or substantial portions of the Software. |
narshu | 1:cc2a9eb0bd55 | 17 | * |
narshu | 1:cc2a9eb0bd55 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
narshu | 1:cc2a9eb0bd55 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
narshu | 1:cc2a9eb0bd55 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
narshu | 1:cc2a9eb0bd55 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
narshu | 1:cc2a9eb0bd55 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
narshu | 1:cc2a9eb0bd55 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
narshu | 1:cc2a9eb0bd55 | 24 | * THE SOFTWARE. |
narshu | 1:cc2a9eb0bd55 | 25 | * |
narshu | 1:cc2a9eb0bd55 | 26 | * @section DESCRIPTION |
narshu | 1:cc2a9eb0bd55 | 27 | * |
narshu | 1:cc2a9eb0bd55 | 28 | * A PID controller is a widely used feedback controller commonly found in |
narshu | 1:cc2a9eb0bd55 | 29 | * industry. |
narshu | 1:cc2a9eb0bd55 | 30 | * |
narshu | 1:cc2a9eb0bd55 | 31 | * This library is a port of Brett Beauregard's Arduino PID library: |
narshu | 1:cc2a9eb0bd55 | 32 | * |
narshu | 1:cc2a9eb0bd55 | 33 | * http://www.arduino.cc/playground/Code/PIDLibrary |
narshu | 1:cc2a9eb0bd55 | 34 | * |
narshu | 1:cc2a9eb0bd55 | 35 | * The wikipedia article on PID controllers is a good place to start on |
narshu | 1:cc2a9eb0bd55 | 36 | * understanding how they work: |
narshu | 1:cc2a9eb0bd55 | 37 | * |
narshu | 1:cc2a9eb0bd55 | 38 | * http://en.wikipedia.org/wiki/PID_controller |
narshu | 1:cc2a9eb0bd55 | 39 | * |
narshu | 1:cc2a9eb0bd55 | 40 | * For a clear and elegant explanation of how to implement and tune a |
narshu | 1:cc2a9eb0bd55 | 41 | * controller, the controlguru website by Douglas J. Cooper (who also happened |
narshu | 1:cc2a9eb0bd55 | 42 | * to be Brett's controls professor) is an excellent reference: |
narshu | 1:cc2a9eb0bd55 | 43 | * |
narshu | 1:cc2a9eb0bd55 | 44 | * http://www.controlguru.com/ |
narshu | 1:cc2a9eb0bd55 | 45 | */ |
narshu | 1:cc2a9eb0bd55 | 46 | |
narshu | 1:cc2a9eb0bd55 | 47 | /** |
narshu | 1:cc2a9eb0bd55 | 48 | * Includes |
narshu | 1:cc2a9eb0bd55 | 49 | */ |
narshu | 1:cc2a9eb0bd55 | 50 | #include "PID.h" |
narshu | 1:cc2a9eb0bd55 | 51 | |
narshu | 1:cc2a9eb0bd55 | 52 | PID::PID(float Kc, float tauI, float tauD, float interval) { |
narshu | 1:cc2a9eb0bd55 | 53 | |
narshu | 1:cc2a9eb0bd55 | 54 | usingFeedForward = false; |
narshu | 1:cc2a9eb0bd55 | 55 | inAuto = false; |
narshu | 1:cc2a9eb0bd55 | 56 | |
narshu | 1:cc2a9eb0bd55 | 57 | //Default the limits to the full range of I/O: 3.3V |
narshu | 1:cc2a9eb0bd55 | 58 | //Make sure to set these to more appropriate limits for |
narshu | 1:cc2a9eb0bd55 | 59 | //your application. |
narshu | 1:cc2a9eb0bd55 | 60 | setInputLimits(0.0, 3.3); |
narshu | 1:cc2a9eb0bd55 | 61 | setOutputLimits(0.0, 3.3); |
narshu | 1:cc2a9eb0bd55 | 62 | |
narshu | 1:cc2a9eb0bd55 | 63 | tSample_ = interval; |
narshu | 1:cc2a9eb0bd55 | 64 | |
narshu | 1:cc2a9eb0bd55 | 65 | setTunings(Kc, tauI, tauD); |
narshu | 1:cc2a9eb0bd55 | 66 | |
narshu | 1:cc2a9eb0bd55 | 67 | setPoint_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 68 | processVariable_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 69 | prevProcessVariable_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 70 | controllerOutput_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 71 | prevControllerOutput_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 72 | |
narshu | 1:cc2a9eb0bd55 | 73 | accError_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 74 | bias_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 75 | |
narshu | 1:cc2a9eb0bd55 | 76 | realOutput_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 77 | |
narshu | 1:cc2a9eb0bd55 | 78 | } |
narshu | 1:cc2a9eb0bd55 | 79 | |
narshu | 1:cc2a9eb0bd55 | 80 | void PID::setInputLimits(float inMin, float inMax) { |
narshu | 1:cc2a9eb0bd55 | 81 | |
narshu | 1:cc2a9eb0bd55 | 82 | //Make sure we haven't been given impossible values. |
narshu | 1:cc2a9eb0bd55 | 83 | if (inMin >= inMax) { |
narshu | 1:cc2a9eb0bd55 | 84 | return; |
narshu | 1:cc2a9eb0bd55 | 85 | } |
narshu | 1:cc2a9eb0bd55 | 86 | |
narshu | 1:cc2a9eb0bd55 | 87 | //Rescale the working variables to reflect the changes. |
narshu | 1:cc2a9eb0bd55 | 88 | prevProcessVariable_ *= (inMax - inMin) / inSpan_; |
narshu | 1:cc2a9eb0bd55 | 89 | accError_ *= (inMax - inMin) / inSpan_; |
narshu | 1:cc2a9eb0bd55 | 90 | |
narshu | 1:cc2a9eb0bd55 | 91 | //Make sure the working variables are within the new limits. |
narshu | 1:cc2a9eb0bd55 | 92 | if (prevProcessVariable_ > 1) { |
narshu | 1:cc2a9eb0bd55 | 93 | prevProcessVariable_ = 1; |
narshu | 1:cc2a9eb0bd55 | 94 | } else if (prevProcessVariable_ < 0) { |
narshu | 1:cc2a9eb0bd55 | 95 | prevProcessVariable_ = 0; |
narshu | 1:cc2a9eb0bd55 | 96 | } |
narshu | 1:cc2a9eb0bd55 | 97 | |
narshu | 1:cc2a9eb0bd55 | 98 | inMin_ = inMin; |
narshu | 1:cc2a9eb0bd55 | 99 | inMax_ = inMax; |
narshu | 1:cc2a9eb0bd55 | 100 | inSpan_ = inMax - inMin; |
narshu | 1:cc2a9eb0bd55 | 101 | |
narshu | 1:cc2a9eb0bd55 | 102 | } |
narshu | 1:cc2a9eb0bd55 | 103 | |
narshu | 1:cc2a9eb0bd55 | 104 | void PID::setOutputLimits(float outMin, float outMax) { |
narshu | 1:cc2a9eb0bd55 | 105 | |
narshu | 1:cc2a9eb0bd55 | 106 | //Make sure we haven't been given impossible values. |
narshu | 1:cc2a9eb0bd55 | 107 | if (outMin >= outMax) { |
narshu | 1:cc2a9eb0bd55 | 108 | return; |
narshu | 1:cc2a9eb0bd55 | 109 | } |
narshu | 1:cc2a9eb0bd55 | 110 | |
narshu | 1:cc2a9eb0bd55 | 111 | //Rescale the working variables to reflect the changes. |
narshu | 1:cc2a9eb0bd55 | 112 | prevControllerOutput_ *= (outMax - outMin) / outSpan_; |
narshu | 1:cc2a9eb0bd55 | 113 | |
narshu | 1:cc2a9eb0bd55 | 114 | //Make sure the working variables are within the new limits. |
narshu | 1:cc2a9eb0bd55 | 115 | if (prevControllerOutput_ > 1) { |
narshu | 1:cc2a9eb0bd55 | 116 | prevControllerOutput_ = 1; |
narshu | 1:cc2a9eb0bd55 | 117 | } else if (prevControllerOutput_ < 0) { |
narshu | 1:cc2a9eb0bd55 | 118 | prevControllerOutput_ = 0; |
narshu | 1:cc2a9eb0bd55 | 119 | } |
narshu | 1:cc2a9eb0bd55 | 120 | |
narshu | 1:cc2a9eb0bd55 | 121 | outMin_ = outMin; |
narshu | 1:cc2a9eb0bd55 | 122 | outMax_ = outMax; |
narshu | 1:cc2a9eb0bd55 | 123 | outSpan_ = outMax - outMin; |
narshu | 1:cc2a9eb0bd55 | 124 | |
narshu | 1:cc2a9eb0bd55 | 125 | } |
narshu | 1:cc2a9eb0bd55 | 126 | |
narshu | 1:cc2a9eb0bd55 | 127 | void PID::setTunings(float Kc, float tauI, float tauD) { |
narshu | 1:cc2a9eb0bd55 | 128 | |
narshu | 1:cc2a9eb0bd55 | 129 | //Verify that the tunings make sense. |
narshu | 1:cc2a9eb0bd55 | 130 | if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) { |
narshu | 1:cc2a9eb0bd55 | 131 | return; |
narshu | 1:cc2a9eb0bd55 | 132 | } |
narshu | 1:cc2a9eb0bd55 | 133 | |
narshu | 1:cc2a9eb0bd55 | 134 | //Store raw values to hand back to user on request. |
narshu | 1:cc2a9eb0bd55 | 135 | pParam_ = Kc; |
narshu | 1:cc2a9eb0bd55 | 136 | iParam_ = tauI; |
narshu | 1:cc2a9eb0bd55 | 137 | dParam_ = tauD; |
narshu | 1:cc2a9eb0bd55 | 138 | |
narshu | 1:cc2a9eb0bd55 | 139 | float tempTauR; |
narshu | 1:cc2a9eb0bd55 | 140 | |
narshu | 1:cc2a9eb0bd55 | 141 | if (tauI == 0.0) { |
narshu | 1:cc2a9eb0bd55 | 142 | tempTauR = 0.0; |
narshu | 1:cc2a9eb0bd55 | 143 | } else { |
narshu | 1:cc2a9eb0bd55 | 144 | tempTauR = (1.0 / tauI) * tSample_; |
narshu | 1:cc2a9eb0bd55 | 145 | } |
narshu | 1:cc2a9eb0bd55 | 146 | |
narshu | 1:cc2a9eb0bd55 | 147 | //For "bumpless transfer" we need to rescale the accumulated error. |
narshu | 1:cc2a9eb0bd55 | 148 | if (inAuto) { |
narshu | 1:cc2a9eb0bd55 | 149 | if (tempTauR == 0.0) { |
narshu | 1:cc2a9eb0bd55 | 150 | accError_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 151 | } else { |
narshu | 1:cc2a9eb0bd55 | 152 | accError_ *= (Kc_ * tauR_) / (Kc * tempTauR); |
narshu | 1:cc2a9eb0bd55 | 153 | } |
narshu | 1:cc2a9eb0bd55 | 154 | } |
narshu | 1:cc2a9eb0bd55 | 155 | |
narshu | 1:cc2a9eb0bd55 | 156 | Kc_ = Kc; |
narshu | 1:cc2a9eb0bd55 | 157 | tauR_ = tempTauR; |
narshu | 1:cc2a9eb0bd55 | 158 | tauD_ = tauD / tSample_; |
narshu | 1:cc2a9eb0bd55 | 159 | |
narshu | 1:cc2a9eb0bd55 | 160 | } |
narshu | 1:cc2a9eb0bd55 | 161 | |
narshu | 1:cc2a9eb0bd55 | 162 | void PID::reset(void) { |
narshu | 1:cc2a9eb0bd55 | 163 | |
narshu | 1:cc2a9eb0bd55 | 164 | float scaledBias = 0.0; |
narshu | 1:cc2a9eb0bd55 | 165 | |
narshu | 1:cc2a9eb0bd55 | 166 | if (usingFeedForward) { |
narshu | 1:cc2a9eb0bd55 | 167 | scaledBias = (bias_ - outMin_) / outSpan_; |
narshu | 1:cc2a9eb0bd55 | 168 | } else { |
narshu | 1:cc2a9eb0bd55 | 169 | scaledBias = (realOutput_ - outMin_) / outSpan_; |
narshu | 1:cc2a9eb0bd55 | 170 | } |
narshu | 1:cc2a9eb0bd55 | 171 | |
narshu | 1:cc2a9eb0bd55 | 172 | prevControllerOutput_ = scaledBias; |
narshu | 1:cc2a9eb0bd55 | 173 | prevProcessVariable_ = (processVariable_ - inMin_) / inSpan_; |
narshu | 1:cc2a9eb0bd55 | 174 | |
narshu | 1:cc2a9eb0bd55 | 175 | //Clear any error in the integral. |
narshu | 1:cc2a9eb0bd55 | 176 | accError_ = 0; |
narshu | 1:cc2a9eb0bd55 | 177 | |
narshu | 1:cc2a9eb0bd55 | 178 | } |
narshu | 1:cc2a9eb0bd55 | 179 | |
narshu | 1:cc2a9eb0bd55 | 180 | void PID::setMode(int mode) { |
narshu | 1:cc2a9eb0bd55 | 181 | |
narshu | 1:cc2a9eb0bd55 | 182 | //We were in manual, and we just got set to auto. |
narshu | 1:cc2a9eb0bd55 | 183 | //Reset the controller internals. |
narshu | 1:cc2a9eb0bd55 | 184 | if (mode != 0 && !inAuto) { |
narshu | 1:cc2a9eb0bd55 | 185 | reset(); |
narshu | 1:cc2a9eb0bd55 | 186 | } |
narshu | 1:cc2a9eb0bd55 | 187 | |
narshu | 1:cc2a9eb0bd55 | 188 | inAuto = (mode != 0); |
narshu | 1:cc2a9eb0bd55 | 189 | |
narshu | 1:cc2a9eb0bd55 | 190 | } |
narshu | 1:cc2a9eb0bd55 | 191 | |
narshu | 1:cc2a9eb0bd55 | 192 | void PID::setInterval(float interval) { |
narshu | 1:cc2a9eb0bd55 | 193 | |
narshu | 1:cc2a9eb0bd55 | 194 | if (interval > 0) { |
narshu | 1:cc2a9eb0bd55 | 195 | //Convert the time-based tunings to reflect this change. |
narshu | 1:cc2a9eb0bd55 | 196 | tauR_ *= (interval / tSample_); |
narshu | 1:cc2a9eb0bd55 | 197 | accError_ *= (tSample_ / interval); |
narshu | 1:cc2a9eb0bd55 | 198 | tauD_ *= (interval / tSample_); |
narshu | 1:cc2a9eb0bd55 | 199 | tSample_ = interval; |
narshu | 1:cc2a9eb0bd55 | 200 | } |
narshu | 1:cc2a9eb0bd55 | 201 | |
narshu | 1:cc2a9eb0bd55 | 202 | } |
narshu | 1:cc2a9eb0bd55 | 203 | |
narshu | 1:cc2a9eb0bd55 | 204 | void PID::setSetPoint(float sp) { |
narshu | 1:cc2a9eb0bd55 | 205 | |
narshu | 1:cc2a9eb0bd55 | 206 | setPoint_ = sp; |
narshu | 1:cc2a9eb0bd55 | 207 | |
narshu | 1:cc2a9eb0bd55 | 208 | } |
narshu | 1:cc2a9eb0bd55 | 209 | |
narshu | 1:cc2a9eb0bd55 | 210 | void PID::setProcessValue(float pv) { |
narshu | 1:cc2a9eb0bd55 | 211 | |
narshu | 1:cc2a9eb0bd55 | 212 | processVariable_ = pv; |
narshu | 1:cc2a9eb0bd55 | 213 | |
narshu | 1:cc2a9eb0bd55 | 214 | } |
narshu | 1:cc2a9eb0bd55 | 215 | |
narshu | 1:cc2a9eb0bd55 | 216 | void PID::setBias(float bias){ |
narshu | 1:cc2a9eb0bd55 | 217 | |
narshu | 1:cc2a9eb0bd55 | 218 | bias_ = bias; |
narshu | 1:cc2a9eb0bd55 | 219 | usingFeedForward = 1; |
narshu | 1:cc2a9eb0bd55 | 220 | |
narshu | 1:cc2a9eb0bd55 | 221 | } |
narshu | 1:cc2a9eb0bd55 | 222 | |
narshu | 1:cc2a9eb0bd55 | 223 | float PID::compute() { |
narshu | 1:cc2a9eb0bd55 | 224 | |
narshu | 1:cc2a9eb0bd55 | 225 | //Pull in the input and setpoint, and scale them into percent span. |
narshu | 1:cc2a9eb0bd55 | 226 | float scaledPV = (processVariable_ - inMin_) / inSpan_; |
narshu | 1:cc2a9eb0bd55 | 227 | |
narshu | 1:cc2a9eb0bd55 | 228 | if (scaledPV > 1.0) { |
narshu | 1:cc2a9eb0bd55 | 229 | scaledPV = 1.0; |
narshu | 1:cc2a9eb0bd55 | 230 | } else if (scaledPV < 0.0) { |
narshu | 1:cc2a9eb0bd55 | 231 | scaledPV = 0.0; |
narshu | 1:cc2a9eb0bd55 | 232 | } |
narshu | 1:cc2a9eb0bd55 | 233 | |
narshu | 1:cc2a9eb0bd55 | 234 | float scaledSP = (setPoint_ - inMin_) / inSpan_; |
narshu | 1:cc2a9eb0bd55 | 235 | if (scaledSP > 1.0) { |
narshu | 1:cc2a9eb0bd55 | 236 | scaledSP = 1; |
narshu | 1:cc2a9eb0bd55 | 237 | } else if (scaledSP < 0.0) { |
narshu | 1:cc2a9eb0bd55 | 238 | scaledSP = 0; |
narshu | 1:cc2a9eb0bd55 | 239 | } |
narshu | 1:cc2a9eb0bd55 | 240 | |
narshu | 1:cc2a9eb0bd55 | 241 | float error = scaledSP - scaledPV; |
narshu | 1:cc2a9eb0bd55 | 242 | |
narshu | 1:cc2a9eb0bd55 | 243 | //Check and see if the output is pegged at a limit and only |
narshu | 1:cc2a9eb0bd55 | 244 | //integrate if it is not. This is to prevent reset-windup. |
narshu | 1:cc2a9eb0bd55 | 245 | if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) { |
narshu | 1:cc2a9eb0bd55 | 246 | accError_ += error; |
narshu | 1:cc2a9eb0bd55 | 247 | } |
narshu | 1:cc2a9eb0bd55 | 248 | |
narshu | 1:cc2a9eb0bd55 | 249 | //Compute the current slope of the input signal. |
narshu | 1:cc2a9eb0bd55 | 250 | float dMeas = (scaledPV - prevProcessVariable_) / tSample_; |
narshu | 1:cc2a9eb0bd55 | 251 | |
narshu | 1:cc2a9eb0bd55 | 252 | float scaledBias = 0.0; |
narshu | 1:cc2a9eb0bd55 | 253 | |
narshu | 1:cc2a9eb0bd55 | 254 | if (usingFeedForward) { |
narshu | 1:cc2a9eb0bd55 | 255 | scaledBias = (bias_ - outMin_) / outSpan_; |
narshu | 1:cc2a9eb0bd55 | 256 | } |
narshu | 1:cc2a9eb0bd55 | 257 | |
narshu | 1:cc2a9eb0bd55 | 258 | //Perform the PID calculation. |
narshu | 1:cc2a9eb0bd55 | 259 | controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); |
narshu | 1:cc2a9eb0bd55 | 260 | |
narshu | 1:cc2a9eb0bd55 | 261 | //Make sure the computed output is within output constraints. |
narshu | 1:cc2a9eb0bd55 | 262 | if (controllerOutput_ < 0.0) { |
narshu | 1:cc2a9eb0bd55 | 263 | controllerOutput_ = 0.0; |
narshu | 1:cc2a9eb0bd55 | 264 | } else if (controllerOutput_ > 1.0) { |
narshu | 1:cc2a9eb0bd55 | 265 | controllerOutput_ = 1.0; |
narshu | 1:cc2a9eb0bd55 | 266 | } |
narshu | 1:cc2a9eb0bd55 | 267 | |
narshu | 1:cc2a9eb0bd55 | 268 | //Remember this output for the windup check next time. |
narshu | 1:cc2a9eb0bd55 | 269 | prevControllerOutput_ = controllerOutput_; |
narshu | 1:cc2a9eb0bd55 | 270 | //Remember the input for the derivative calculation next time. |
narshu | 1:cc2a9eb0bd55 | 271 | prevProcessVariable_ = scaledPV; |
narshu | 1:cc2a9eb0bd55 | 272 | |
narshu | 1:cc2a9eb0bd55 | 273 | //Scale the output from percent span back out to a real world number. |
narshu | 1:cc2a9eb0bd55 | 274 | return ((controllerOutput_ * outSpan_) + outMin_); |
narshu | 1:cc2a9eb0bd55 | 275 | |
narshu | 1:cc2a9eb0bd55 | 276 | } |
narshu | 1:cc2a9eb0bd55 | 277 | |
narshu | 1:cc2a9eb0bd55 | 278 | float PID::getInMin() { |
narshu | 1:cc2a9eb0bd55 | 279 | |
narshu | 1:cc2a9eb0bd55 | 280 | return inMin_; |
narshu | 1:cc2a9eb0bd55 | 281 | |
narshu | 1:cc2a9eb0bd55 | 282 | } |
narshu | 1:cc2a9eb0bd55 | 283 | |
narshu | 1:cc2a9eb0bd55 | 284 | float PID::getInMax() { |
narshu | 1:cc2a9eb0bd55 | 285 | |
narshu | 1:cc2a9eb0bd55 | 286 | return inMax_; |
narshu | 1:cc2a9eb0bd55 | 287 | |
narshu | 1:cc2a9eb0bd55 | 288 | } |
narshu | 1:cc2a9eb0bd55 | 289 | |
narshu | 1:cc2a9eb0bd55 | 290 | float PID::getOutMin() { |
narshu | 1:cc2a9eb0bd55 | 291 | |
narshu | 1:cc2a9eb0bd55 | 292 | return outMin_; |
narshu | 1:cc2a9eb0bd55 | 293 | |
narshu | 1:cc2a9eb0bd55 | 294 | } |
narshu | 1:cc2a9eb0bd55 | 295 | |
narshu | 1:cc2a9eb0bd55 | 296 | float PID::getOutMax() { |
narshu | 1:cc2a9eb0bd55 | 297 | |
narshu | 1:cc2a9eb0bd55 | 298 | return outMax_; |
narshu | 1:cc2a9eb0bd55 | 299 | |
narshu | 1:cc2a9eb0bd55 | 300 | } |
narshu | 1:cc2a9eb0bd55 | 301 | |
narshu | 1:cc2a9eb0bd55 | 302 | float PID::getInterval() { |
narshu | 1:cc2a9eb0bd55 | 303 | |
narshu | 1:cc2a9eb0bd55 | 304 | return tSample_; |
narshu | 1:cc2a9eb0bd55 | 305 | |
narshu | 1:cc2a9eb0bd55 | 306 | } |
narshu | 1:cc2a9eb0bd55 | 307 | |
narshu | 1:cc2a9eb0bd55 | 308 | float PID::getPParam() { |
narshu | 1:cc2a9eb0bd55 | 309 | |
narshu | 1:cc2a9eb0bd55 | 310 | return pParam_; |
narshu | 1:cc2a9eb0bd55 | 311 | |
narshu | 1:cc2a9eb0bd55 | 312 | } |
narshu | 1:cc2a9eb0bd55 | 313 | |
narshu | 1:cc2a9eb0bd55 | 314 | float PID::getIParam() { |
narshu | 1:cc2a9eb0bd55 | 315 | |
narshu | 1:cc2a9eb0bd55 | 316 | return iParam_; |
narshu | 1:cc2a9eb0bd55 | 317 | |
narshu | 1:cc2a9eb0bd55 | 318 | } |
narshu | 1:cc2a9eb0bd55 | 319 | |
narshu | 1:cc2a9eb0bd55 | 320 | float PID::getDParam() { |
narshu | 1:cc2a9eb0bd55 | 321 | |
narshu | 1:cc2a9eb0bd55 | 322 | return dParam_; |
narshu | 1:cc2a9eb0bd55 | 323 | |
narshu | 1:cc2a9eb0bd55 | 324 | } |