Clark Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_s by Tony Lin

controller.h@23:d6d4e8adf7fe, 2014-07-02 (annotated)

Committer:
physicsgood
Date:
Wed Jul 02 13:33:49 2014 +0000
Revision:
23:d6d4e8adf7fe
Parent:
21:5f7efc1ca8ad 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 7:fd976e1ced33 1 #include "mbed.h"
backman 7:fd976e1ced33 2
backman 7:fd976e1ced33 3
backman 7:fd976e1ced33 4
backman 7:fd976e1ced33 5 class PID
backman 7:fd976e1ced33 6 {
backman 7:fd976e1ced33 7 public:
TonyLin 13:a33a7705fe2b 8
TonyLin 13:a33a7705fe2b 9
TonyLin 13:a33a7705fe2b 10 float de_kp;
TonyLin 13:a33a7705fe2b 11 float de_ip;
TonyLin 13:a33a7705fe2b 12 float de_dp;
TonyLin 13:a33a7705fe2b 13
TonyLin 13:a33a7705fe2b 14
TonyLin 13:a33a7705fe2b 15
TonyLin 13:a33a7705fe2b 16 float de_output;
TonyLin 13:a33a7705fe2b 17
TonyLin 13:a33a7705fe2b 18
backman 7:fd976e1ced33 19 /*
backman 7:fd976e1ced33 20 * Constructeur
backman 7:fd976e1ced33 21 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
backman 7:fd976e1ced33 22 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 23 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 24 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 25 * @param interval PID calculation performed every interval seconds.
backman 7:fd976e1ced33 26 */
backman 9:33b99cb45e99 27 PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval);
TonyLin 13:a33a7705fe2b 28
backman 7:fd976e1ced33 29 /*
backman 7:fd976e1ced33 30 * Scale from inputs to 0-100%.
backman 7:fd976e1ced33 31 * @param InMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 32 * @param InMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 33 */
backman 7:fd976e1ced33 34 void setInputLimits(float inMin, float inMax);
TonyLin 13:a33a7705fe2b 35
backman 7:fd976e1ced33 36 /*
backman 7:fd976e1ced33 37 * Scale from outputs to 0-100%.
backman 7:fd976e1ced33 38 * @param outMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 39 * @param outMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 40 */
backman 7:fd976e1ced33 41 void setOutputLimits(float outMin, float outMax);
TonyLin 13:a33a7705fe2b 42
backman 7:fd976e1ced33 43 /*
backman 7:fd976e1ced33 44 * Calculate PID constants.
backman 7:fd976e1ced33 45 * Allows parameters to be changed on the fly without ruining calculations.
backman 7:fd976e1ced33 46 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 47 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 48 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 49 */
backman 7:fd976e1ced33 50 void setTunings(float Kc, float tauI, float tauD);
TonyLin 13:a33a7705fe2b 51
backman 7:fd976e1ced33 52 /*
backman 7:fd976e1ced33 53 * Reinitializes controller internals. Automatically
backman 7:fd976e1ced33 54 * called on a manual to auto transition.
backman 7:fd976e1ced33 55 */
TonyLin 13:a33a7705fe2b 56 // void reset(void);
TonyLin 13:a33a7705fe2b 57
backman 7:fd976e1ced33 58 /*
backman 7:fd976e1ced33 59 * Set how fast the PID loop is run.
backman 7:fd976e1ced33 60 * @param interval PID calculation peformed every interval seconds.
backman 7:fd976e1ced33 61 */
TonyLin 13:a33a7705fe2b 62 // void setInterval(float interval);
TonyLin 13:a33a7705fe2b 63
backman 7:fd976e1ced33 64 /*
backman 7:fd976e1ced33 65 * Set the bias.
backman 7:fd976e1ced33 66 * @param bias The bias for the controller output.
backman 7:fd976e1ced33 67 */
backman 11:03d5aa2511c4 68 // void setBias(float bias);
TonyLin 13:a33a7705fe2b 69
backman 7:fd976e1ced33 70 /*
backman 7:fd976e1ced33 71 * PID calculation.
backman 7:fd976e1ced33 72 * @return The controller output as a float between outMin and outMax.
backman 7:fd976e1ced33 73 */
physicsgood 23:d6d4e8adf7fe 74 float compute(int centerL, int centerR, int sp);
physicsgood 23:d6d4e8adf7fe 75 int getCenter(int centerL, int centerR);
TonyLin 13:a33a7705fe2b 76
backman 7:fd976e1ced33 77 //Getters.
backman 7:fd976e1ced33 78 float getInMin();
backman 7:fd976e1ced33 79 float getInMax();
backman 7:fd976e1ced33 80 float getOutMin();
backman 7:fd976e1ced33 81 float getOutMax();
backman 7:fd976e1ced33 82 float getInterval();
backman 7:fd976e1ced33 83 float getPParam();
backman 7:fd976e1ced33 84 float getIParam();
backman 7:fd976e1ced33 85 float getDParam();
TonyLin 13:a33a7705fe2b 86
backman 7:fd976e1ced33 87 private:
TonyLin 13:a33a7705fe2b 88
TonyLin 13:a33a7705fe2b 89 // bool usingFeedForward;
TonyLin 13:a33a7705fe2b 90
backman 7:fd976e1ced33 91 //Actual tuning parameters used in PID calculation.
physicsgood 21:5f7efc1ca8ad 92 float Kp;
physicsgood 21:5f7efc1ca8ad 93 float Ki;
physicsgood 21:5f7efc1ca8ad 94 float Kd;
backman 7:fd976e1ced33 95 float Kc_;
backman 11:03d5aa2511c4 96 float tauI_;
backman 7:fd976e1ced33 97 float tauD_;
TonyLin 13:a33a7705fe2b 98
TonyLin 13:a33a7705fe2b 99
TonyLin 13:a33a7705fe2b 100
TonyLin 13:a33a7705fe2b 101 float pParam_;
backman 11:03d5aa2511c4 102 float iParam_;
backman 11:03d5aa2511c4 103 float dParam_;
TonyLin 13:a33a7705fe2b 104
backman 11:03d5aa2511c4 105 float accError_;
TonyLin 13:a33a7705fe2b 106
backman 7:fd976e1ced33 107 //Raw tuning parameters.
TonyLin 13:a33a7705fe2b 108
backman 7:fd976e1ced33 109 //The point we want to reach.
backman 7:fd976e1ced33 110 float setPoint_;
backman 7:fd976e1ced33 111 //The thing we measure.
backman 7:fd976e1ced33 112 float processVariable_;
backman 7:fd976e1ced33 113 float prevProcessVariable_;
backman 7:fd976e1ced33 114 //The output that affects the process variable.
backman 7:fd976e1ced33 115 float controllerOutput_;
backman 7:fd976e1ced33 116 float prevControllerOutput_;
TonyLin 13:a33a7705fe2b 117
backman 7:fd976e1ced33 118 //We work in % for calculations so these will scale from
backman 7:fd976e1ced33 119 //real world values to 0-100% and back again.
backman 7:fd976e1ced33 120 float inMin_;
backman 7:fd976e1ced33 121 float inMax_;
backman 7:fd976e1ced33 122 float inSpan_;
TonyLin 13:a33a7705fe2b 123
backman 7:fd976e1ced33 124 float outMin_;
backman 11:03d5aa2511c4 125 float outMid_;
backman 7:fd976e1ced33 126 float outMax_;
backman 7:fd976e1ced33 127 float outSpan_;
TonyLin 13:a33a7705fe2b 128
backman 11:03d5aa2511c4 129 float ctrl_Lbound;
backman 11:03d5aa2511c4 130 float ctrl_Ubound;
TonyLin 13:a33a7705fe2b 131
TonyLin 13:a33a7705fe2b 132
TonyLin 13:a33a7705fe2b 133
TonyLin 13:a33a7705fe2b 134
backman 7:fd976e1ced33 135 //The accumulated error, i.e. integral.
backman 11:03d5aa2511c4 136 //float accError_;
backman 7:fd976e1ced33 137 //The controller output bias.
TonyLin 13:a33a7705fe2b 138 // float bias_;
TonyLin 13:a33a7705fe2b 139
backman 7:fd976e1ced33 140 //The interval between samples.
backman 7:fd976e1ced33 141 float tSample_;
TonyLin 13:a33a7705fe2b 142
backman 7:fd976e1ced33 143 //Controller output as a real world value.
TonyLin 13:a33a7705fe2b 144 // volatile float realOutput_;
TonyLin 13:a33a7705fe2b 145
backman 7:fd976e1ced33 146 };