Prosper Van / PID

from greg

Fork of PID by Greg Abdo

PID.h@12:9d078cd8ca83, 2014-10-15 (annotated)

Committer:
oprospero
Date:
Wed Oct 15 04:59:05 2014 +0000
Revision:
12:9d078cd8ca83
Parent:
10:3296a2150efe 
minor changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MitchJCarlson 0:7e5fe0bea780 1 /** PID.h */
MitchJCarlson 0:7e5fe0bea780 2
MitchJCarlson 0:7e5fe0bea780 3 #ifndef UWBQuad__PID__h
MitchJCarlson 0:7e5fe0bea780 4 #define UWBQuad__PID__h
MitchJCarlson 0:7e5fe0bea780 5
oprospero 12:9d078cd8ca83 6 #define CONTROL_LIMIT 250
oprospero 12:9d078cd8ca83 7
MitchJCarlson 0:7e5fe0bea780 8 /**
MitchJCarlson 0:7e5fe0bea780 9 * UWB Quadcopter project
MitchJCarlson 0:7e5fe0bea780 10 *
MitchJCarlson 0:7e5fe0bea780 11 * Implementation of the Proportional Integral Derivative
MitchJCarlson 0:7e5fe0bea780 12 * control system for quadcopter stabilization.
MitchJCarlson 0:7e5fe0bea780 13 * http://nicisdigital.wordpress.com/2011/06/27/proportional-integral-derivative-pid-controller/
MitchJCarlson 0:7e5fe0bea780 14 *
MitchJCarlson 0:7e5fe0bea780 15 * @author UWB Quadcopter group
MitchJCarlson 0:7e5fe0bea780 16 */
oprospero 5:43a44c2880a3 17
MitchJCarlson 0:7e5fe0bea780 18 class PID
MitchJCarlson 0:7e5fe0bea780 19 {
MitchJCarlson 0:7e5fe0bea780 20
MitchJCarlson 0:7e5fe0bea780 21 public:
MitchJCarlson 0:7e5fe0bea780 22 /**
MitchJCarlson 0:7e5fe0bea780 23 * Initialize the controller.
MitchJCarlson 0:7e5fe0bea780 24 *
MitchJCarlson 0:7e5fe0bea780 25 * @param proportionalGain Tuning value for adjusting the copter
MitchJCarlson 0:7e5fe0bea780 26 * towards a target position.
MitchJCarlson 0:7e5fe0bea780 27 * @param integralGain Tuning value for compensating for
MitchJCarlson 0:7e5fe0bea780 28 * environment imperfections that provide
MitchJCarlson 0:7e5fe0bea780 29 resistance such as friction.
MitchJCarlson 0:7e5fe0bea780 30 * @param derivativeGain Tuning value for compensating for
MitchJCarlson 0:7e5fe0bea780 31 * environment imperfections that cause
MitchJCarlson 0:7e5fe0bea780 32 * the system to overshoot the target,
MitchJCarlson 0:7e5fe0bea780 33 * such as momentum.
MitchJCarlson 0:7e5fe0bea780 34 * @param windupGainGuard Cap for the maximum error value.
MitchJCarlson 0:7e5fe0bea780 35 */
oprospero 10:3296a2150efe 36 PID(const float, const float, const float, const float);
MitchJCarlson 0:7e5fe0bea780 37
MitchJCarlson 0:7e5fe0bea780 38 /**
MitchJCarlson 0:7e5fe0bea780 39 * Determine how to correct the system to the desired position.
MitchJCarlson 0:7e5fe0bea780 40 *
MitchJCarlson 0:7e5fe0bea780 41 * @param currentPosition The current vector of the system.
MitchJCarlson 0:7e5fe0bea780 42 * @param targetPosition The desired vector of the system.
MitchJCarlson 0:7e5fe0bea780 43 * @param dt The change in time since the last adjustment.
MitchJCarlson 0:7e5fe0bea780 44 * (time determined by caller,
MitchJCarlson 0:7e5fe0bea780 45 * eg. PID can be switched off for manual control)
MitchJCarlson 0:7e5fe0bea780 46 * @return Adjustment to apply to the motors.
MitchJCarlson 0:7e5fe0bea780 47 */
oprospero 10:3296a2150efe 48 float correct(const float,const int);
oprospero 8:a020a225bc65 49
oprospero 8:a020a225bc65 50 void updateP(const float);
oprospero 8:a020a225bc65 51 void updateD(const float);
oprospero 12:9d078cd8ca83 52 void setControlLimit(const float);
MitchJCarlson 0:7e5fe0bea780 53
MitchJCarlson 0:7e5fe0bea780 54 private:
oprospero 7:1b1c2ded95f5 55 float proportionalGain;
MitchJCarlson 0:7e5fe0bea780 56 const float integralGain;
oprospero 8:a020a225bc65 57 float derivativeGain;
MitchJCarlson 0:7e5fe0bea780 58 const float windupGainGuard;
oprospero 7:1b1c2ded95f5 59 float proportionalControl, integralControl, derivativeControl;
MitchJCarlson 0:7e5fe0bea780 60
oprospero 7:1b1c2ded95f5 61 float currentError;
MitchJCarlson 0:7e5fe0bea780 62 float previousError;
MitchJCarlson 0:7e5fe0bea780 63 float integralError;
oprospero 12:9d078cd8ca83 64
oprospero 12:9d078cd8ca83 65 float controlTotal;
oprospero 12:9d078cd8ca83 66
MitchJCarlson 0:7e5fe0bea780 67
MitchJCarlson 0:7e5fe0bea780 68 };
MitchJCarlson 0:7e5fe0bea780 69
MitchJCarlson 0:7e5fe0bea780 70 #endif