Revision 10:3296a2150efe, committed 2014-05-25

Comitter:

oprospero

Date:

Sun May 25 22:53:48 2014 +0000

Parent:

9:244f8204d1fa

Child:

11:0854d9ff17f8

Commit message:

add parabolic curve

Changed in this revision

--- a/PID.cpp	Sat Feb 15 19:55:04 2014 +0000
+++ b/PID.cpp	Sun May 25 22:53:48 2014 +0000
@@ -16,13 +16,11 @@
 PID::PID(const float proportionalGain,
     const float integralGain,
     const float derivativeGain,
-    const float windupGainGuard,
-    const float timeDifferential ) :
+    const float windupGainGuard ) :
         proportionalGain(proportionalGain),
         integralGain(integralGain),
         derivativeGain(derivativeGain),
-        windupGainGuard(windupGainGuard),
-        dt(timeDifferential)
+        windupGainGuard(windupGainGuard)
 {
 //    pc.baud(38400);
     integralError = 0.0f;
@@ -31,7 +29,7 @@
     proportionalControl = integralControl = derivativeControl = 0;
 }
 
-float PID::correct(const float currentError)
+float PID::correct(const float currentError,const int dt)
 {
 //    float currentError = 0;
 //    float proportionalControl, integralControl, derivativeControl;

--- a/PID.h	Sat Feb 15 19:55:04 2014 +0000
+++ b/PID.h	Sun May 25 22:53:48 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 float);
+    PID(const float, const float, const float, const float);
 
     /**
      * Determine how to correct the system to the desired position.
@@ -43,7 +43,7 @@
      *               eg. PID can be switched off for manual control)
      * @return Adjustment to apply to the motors.
      */
-    float correct(const float);
+    float correct(const float,const int);
     
     void updateP(const float);
     void updateD(const float);
@@ -53,7 +53,6 @@
     const float integralGain;
     float derivativeGain;
     const float windupGainGuard;
-    const float dt;
     float proportionalControl, integralControl, derivativeControl;
 
     float currentError;