Revision 1:b738a8164729, committed 2019-12-25

Comitter:

noamnahum

Date:

Wed Dec 25 09:00:32 2019 +0000

Parent:

0:6e12a3e5af19

Commit message:

code change

Changed in this revision

diff -r 6e12a3e5af19 -r b738a8164729 PID.cpp
--- a/PID.cpp	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.cpp	Wed Dec 25 09:00:32 2019 +0000
@@ -57,8 +57,8 @@
     //Default the limits to the full range of I/O: 3.3V
     //Make sure to set these to more appropriate limits for
     //your application.
-    setInputLimits(0.0, 3.3);
-    setOutputLimits(0.0, 3.3);
+    setInputLimits(20, 90.0);
+    setOutputLimits(-1, 1);
 
     tSample_ = interval;
 
@@ -259,8 +259,8 @@
     controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
 
     //Make sure the computed output is within output constraints.
-    if (controllerOutput_ < 0.0) {
-        controllerOutput_ = 0.0;
+    if (controllerOutput_ < -1.0) {
+        controllerOutput_ = -1.0;
     } else if (controllerOutput_ > 1.0) {
         controllerOutput_ = 1.0;
     }

diff -r 6e12a3e5af19 -r b738a8164729 PID.h
--- a/PID.h	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.h	Wed Dec 25 09:00:32 2019 +0000
@@ -1,81 +1,16 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- * 
- * A PID controller is a widely used feedback controller commonly found in
- * industry.
- *
- * This library is a port of Brett Beauregard's Arduino PID library:
- *
- *  http://www.arduino.cc/playground/Code/PIDLibrary
- *
- * The wikipedia article on PID controllers is a good place to start on
- * understanding how they work:
- *
- *  http://en.wikipedia.org/wiki/PID_controller
- *
- * For a clear and elegant explanation of how to implement and tune a
- * controller, the controlguru website by Douglas J. Cooper (who also happened
- * to be Brett's controls professor) is an excellent reference:
- *
- *  http://www.controlguru.com/
- */
+
 
 #ifndef PID_H
 #define PID_H
 
-/**
- * Includes
- */
 #include "mbed.h"
 
-/**
- * Defines
- */
-#define MANUAL_MODE 0
-#define AUTO_MODE   1
 
-/**
- * Proportional-integral-derivative controller.
- */
 class PID {
 
 public:
 
-    /**
-     * Constructor.
-     *
-     * Sets default limits [0-3.3V], calculates tuning parameters, and sets
-     * manual mode with no bias.
-     *
-     * @param Kc - Tuning parameter
-     * @param tauI - Tuning parameter
-     * @param tauD - Tuning parameter
-     * @param interval PID calculation performed every interval seconds.
-     */
+
     PID(float Kc, float tauI, float tauD, float interval);
 
     /**