N K / Mbed 2 deprecated GaNtroller

a fork of priustroller

Dependencies:   mbed

Fork of priustroller_current by N K

meta/pidcontroller.cpp@21:da41c08e51bc, 2015-03-09 (annotated)

Committer:
nki
Date:
Mon Mar 09 05:07:49 2015 +0000
Revision:
21:da41c08e51bc
Parent:
11:dccbaa9274c5
Child:
24:f1ff9c7256b5
fixed an issue with the debug output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "filters.h"
bwang 11:dccbaa9274c5 3
bwang 11:dccbaa9274c5 4 PidController::PidController(float ki, float kp, float kd, float out_max, float out_min) {
bwang 11:dccbaa9274c5 5 _ki = ki;
bwang 11:dccbaa9274c5 6 _kp = kp;
bwang 11:dccbaa9274c5 7 _kd = kd;
bwang 11:dccbaa9274c5 8 _last_in = 0.0f;
bwang 11:dccbaa9274c5 9 _integral = 0.0f;
bwang 11:dccbaa9274c5 10 _out_max = out_max;
bwang 11:dccbaa9274c5 11 _out_min = out_min;
bwang 11:dccbaa9274c5 12 }
bwang 11:dccbaa9274c5 13
bwang 11:dccbaa9274c5 14 float PidController::Update(float ref, float in) {
nki 21:da41c08e51bc 15 /*
bwang 11:dccbaa9274c5 16 float error = ref - in;
bwang 11:dccbaa9274c5 17 _integral += error;
bwang 11:dccbaa9274c5 18 if (_integral * _ki > _out_max) _integral = _out_max / _ki;
bwang 11:dccbaa9274c5 19 if (_integral * _ki < _out_min) _integral = _out_min / _ki;
bwang 11:dccbaa9274c5 20 float deriv = _last_in - in;
bwang 11:dccbaa9274c5 21 _last_in = in;
bwang 11:dccbaa9274c5 22 float tmp = _ki * _integral + _kp * error + _kd * deriv;
bwang 11:dccbaa9274c5 23 if (tmp > _out_max) tmp = _out_max;
bwang 11:dccbaa9274c5 24 if (tmp < _out_min) tmp = _out_min;
bwang 11:dccbaa9274c5 25 return tmp;
nki 21:da41c08e51bc 26 */
nki 21:da41c08e51bc 27 return 0.0f;
bwang 11:dccbaa9274c5 28 }