LI SU / PID

ROS_FINGER

Fork of PID by LDSC_Robotics_TAs

PID.h@1:4df4895863cd, 2016-04-22 (annotated)

Committer:
adam_z
Date:
Fri Apr 22 09:38:38 2016 +0000
Revision:
1:4df4895863cd
Parent:
0:7f9b4ca968ae 
add a anti-windup function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
weisnail 0:7f9b4ca968ae 1 #ifndef PID_H
weisnail 0:7f9b4ca968ae 2 #define PID_H
weisnail 0:7f9b4ca968ae 3
weisnail 0:7f9b4ca968ae 4 #include "mbed.h"
weisnail 0:7f9b4ca968ae 5
weisnail 0:7f9b4ca968ae 6 class PID{
weisnail 0:7f9b4ca968ae 7 public:
weisnail 0:7f9b4ca968ae 8
weisnail 0:7f9b4ca968ae 9 PID(float setKp, float setKi, float setKd, float setSampletime);
weisnail 0:7f9b4ca968ae 10 void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
weisnail 0:7f9b4ca968ae 11 void SetInputLimits(float setinputLimits_H, float setinputLimits_L);
adam_z 1:4df4895863cd 12 void Compute(float setreference, float setfeedbackvalue);
adam_z 1:4df4895863cd 13 void PID::EnableAntiWindUp(float Ka_);
weisnail 0:7f9b4ca968ae 14
weisnail 0:7f9b4ca968ae 15 float Kp;
weisnail 0:7f9b4ca968ae 16 float Ki;
weisnail 0:7f9b4ca968ae 17 float Kd;
adam_z 1:4df4895863cd 18 float Ka;
weisnail 0:7f9b4ca968ae 19
weisnail 0:7f9b4ca968ae 20 float error[3];
weisnail 0:7f9b4ca968ae 21 float output;
weisnail 0:7f9b4ca968ae 22 float reference;
weisnail 0:7f9b4ca968ae 23
weisnail 0:7f9b4ca968ae 24
weisnail 0:7f9b4ca968ae 25
weisnail 0:7f9b4ca968ae 26
weisnail 0:7f9b4ca968ae 27 float sampletime;
weisnail 0:7f9b4ca968ae 28
weisnail 0:7f9b4ca968ae 29
weisnail 0:7f9b4ca968ae 30
weisnail 0:7f9b4ca968ae 31 private:
weisnail 0:7f9b4ca968ae 32
weisnail 0:7f9b4ca968ae 33 bool Outputlimit_bool;
weisnail 0:7f9b4ca968ae 34 bool Inputlimit_bool;
adam_z 1:4df4895863cd 35 bool AntiWindUp_bool;
weisnail 0:7f9b4ca968ae 36
weisnail 0:7f9b4ca968ae 37 float outputLimits_H;
weisnail 0:7f9b4ca968ae 38 float outputLimits_L;
weisnail 0:7f9b4ca968ae 39 float inputLimits_H;
weisnail 0:7f9b4ca968ae 40 float inputLimits_L;
weisnail 0:7f9b4ca968ae 41
weisnail 0:7f9b4ca968ae 42 float feedbackvalue;
weisnail 0:7f9b4ca968ae 43 // Ticker PID_timer;
weisnail 0:7f9b4ca968ae 44
weisnail 0:7f9b4ca968ae 45 };
weisnail 0:7f9b4ca968ae 46
weisnail 0:7f9b4ca968ae 47 #endif /* PID_H*/