Revision 12:9d078cd8ca83, committed 2014-10-15

Comitter:

oprospero

Date:

Wed Oct 15 04:59:05 2014 +0000

Parent:

11:0854d9ff17f8

Commit message:

minor changes

Changed in this revision

diff -r 0854d9ff17f8 -r 9d078cd8ca83 PID.cpp
--- a/PID.cpp	Mon Jun 09 00:07:12 2014 +0000
+++ b/PID.cpp	Wed Oct 15 04:59:05 2014 +0000
@@ -20,7 +20,7 @@
         proportionalGain(proportionalGain),
         integralGain(integralGain),
         derivativeGain(derivativeGain),
-        windupGainGuard(windupGainGuard)
+        windupGainGuard(windupGainGuard/integralGain)
 {
 //    pc.baud(38400);
     integralError = 0.0f;
@@ -31,14 +31,6 @@
 
 float PID::correct(const float currentError,const int dt)
 {
-//    float currentError = 0;
-//    float proportionalControl, integralControl, derivativeControl;
-
-    // How far away we are from the target
-//    currentError = targetPosition - currentPosition;
-
-    
-
     // Sum of the errors the controller has incurred over time
     integralError += currentError * dt / 1000.0f;
 
@@ -49,17 +41,22 @@
         integralError = windupGainGuard;
     }
     
-
     // Calculate the correction, based on the tuning values
     proportionalControl = proportionalGain * currentError;
     integralControl = integralError * integralGain;
     derivativeControl = derivativeGain * (currentError - previousError) / dt * 1000.0f;
 
-
     // Save current error for next call to correction
     previousError = currentError;
-
-    return proportionalControl + integralControl + derivativeControl;
+    
+    controlTotal = proportionalControl + integralControl + derivativeControl;
+    
+    if (controlTotal > CONTROL_LIMIT)
+        return CONTROL_LIMIT;
+    else if (controlTotal < -CONTROL_LIMIT)
+        return -CONTROL_LIMIT;
+        
+    return controlTotal;
 
 }
 
@@ -71,4 +68,4 @@
 void PID::updateD(const float dGain)
 {
     derivativeGain = dGain;
-}
\ No newline at end of file
+}

diff -r 0854d9ff17f8 -r 9d078cd8ca83 PID.h
--- a/PID.h	Mon Jun 09 00:07:12 2014 +0000
+++ b/PID.h	Wed Oct 15 04:59:05 2014 +0000
@@ -3,6 +3,8 @@
 #ifndef UWBQuad__PID__h
 #define UWBQuad__PID__h
 
+#define CONTROL_LIMIT 250
+
 /**
  * UWB Quadcopter project
  *
@@ -47,6 +49,7 @@
     
     void updateP(const float);
     void updateD(const float);
+    void setControlLimit(const float);
 
 private:
     float proportionalGain;
@@ -58,6 +61,9 @@
     float currentError;
     float previousError;
     float integralError;
+    
+    float controlTotal;
+    
 
 };