Prosper Van / PID

from greg

Fork of PID by Greg Abdo

Files at this revision

API Documentation at this revision

Revision 5:43a44c2880a3, committed 2013-09-26

Comitter:
oprospero
Date:
Thu Sep 26 05:18:54 2013 +0000
Parent:
4:e3cc82bee208
Child:
6:d3d95134e5a5
Commit message:
set

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file
PID.h Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Mon Jul 29 19:58:42 2013 +0000
+++ b/PID.cpp	Thu Sep 26 05:18:54 2013 +0000
@@ -21,6 +21,7 @@
 {
     integralError = 0.0f;
     previousError = 0.0f;
+    errorTrim = 0.0f;
 }
 
 float PID::correct(const float currentPosition,
@@ -41,11 +42,23 @@
     } else if (integralError > windupGainGuard) {
         integralError = windupGainGuard;
     }
-
+    
+    
+    float currentderivativeError = (currentError - previousError);
+//    if(currentderivativeError > 0 && currentError > 0){
+//        errorTrim += currentderivativeError * 0.001; 
+//    }else if (currentderivativeError < 0 && currentError < 0){
+//        errorTrim += currentderivativeError * 0.001; 
+//    }
+//    
+//    currentError += errorTrim;
+    
+    
+    
     // Calculate the correction, based on the tuning values
     proportionalControl = proportionalGain * currentError;
     integralControl = integralError * integralGain;
-    derivativeControl = derivativeGain * ((currentError - previousError) / dt);
+    derivativeControl = derivativeGain * (currentderivativeError / dt);
 
     // Save current error for next call to correction
     previousError = currentError;

--- a/PID.h	Mon Jul 29 19:58:42 2013 +0000
+++ b/PID.h	Thu Sep 26 05:18:54 2013 +0000
@@ -12,6 +12,7 @@
  *
  * @author UWB Quadcopter group
  */
+ 
 class PID
 {
 
@@ -52,6 +53,7 @@
 
     float previousError;
     float integralError;
+    float errorTrim;
 
 };