Revision 9:244f8204d1fa, committed 2014-02-15

Comitter:

oprospero

Date:

Sat Feb 15 19:55:04 2014 +0000

Parent:

8:a020a225bc65

Child:

10:3296a2150efe

Commit message:

Update windup guard logic

Changed in this revision

--- a/PID.cpp	Tue Dec 31 05:28:01 2013 +0000
+++ b/PID.cpp	Sat Feb 15 19:55:04 2014 +0000
@@ -9,18 +9,22 @@
  */
 
 #include "PID.h"
+//
+//#include "mbed.h"
+//Serial pc(USBTX, USBRX);
 
 PID::PID(const float proportionalGain,
-         const float integralGain,
-         const float derivativeGain,
-         const float windupGainGuard,
-         const int timeDifferential) :
-    proportionalGain(proportionalGain),
-    integralGain(integralGain),
-    derivativeGain(derivativeGain),
-    windupGainGuard(windupGainGuard),
-    dt(timeDifferential)
+    const float integralGain,
+    const float derivativeGain,
+    const float windupGainGuard,
+    const float timeDifferential ) :
+        proportionalGain(proportionalGain),
+        integralGain(integralGain),
+        derivativeGain(derivativeGain),
+        windupGainGuard(windupGainGuard),
+        dt(timeDifferential)
 {
+//    pc.baud(38400);
     integralError = 0.0f;
     previousError = 0.0f;
     currentError = 0.0f;
@@ -36,7 +40,8 @@
 //    currentError = targetPosition - currentPosition;
 
     // Sum of the errors the controller has incurred over time
-    integralError += currentError;
+    integralError += currentError * dt / 1000;
+
     // Cap the sum of errors to prevent excessive correction
     if (integralError < -windupGainGuard) {
         integralError = -windupGainGuard;
@@ -50,6 +55,7 @@
     integralControl = integralError * integralGain;
     derivativeControl = derivativeGain * (currentError - previousError) / dt;
 
+
     // Save current error for next call to correction
     previousError = currentError;
 

--- a/PID.h	Tue Dec 31 05:28:01 2013 +0000
+++ b/PID.h	Sat Feb 15 19:55:04 2014 +0000
@@ -31,7 +31,7 @@
      *                          such as momentum.
      * @param windupGainGuard Cap for the maximum error value.
      */
-    PID(const float, const float, const float, const float, const int);
+    PID(const float, const float, const float, const float, const float);
 
     /**
      * Determine how to correct the system to the desired position.
@@ -53,7 +53,7 @@
     const float integralGain;
     float derivativeGain;
     const float windupGainGuard;
-    const int dt;
+    const float dt;
     float proportionalControl, integralControl, derivativeControl;
 
     float currentError;