Rogelio Vazquez / Mbed 2 deprecated Control_interface

UCR Robosub manual control / PID tuning interface

Dependencies:   mbed HMC5883L

PID.h@1:3f291f2f80d3, 2017-07-27 (annotated)

Committer:
roger_wee
Date:
Thu Jul 27 05:45:10 2017 +0000
Revision:
1:3f291f2f80d3
Parent:
0:048a74dd7c3a 
control edit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
roger_wee 0:048a74dd7c3a 1 #include "mbed.h"
roger_wee 0:048a74dd7c3a 2 #ifndef PID_H_
roger_wee 0:048a74dd7c3a 3 #define PID_H_
roger_wee 0:048a74dd7c3a 4
roger_wee 0:048a74dd7c3a 5 class PID
roger_wee 0:048a74dd7c3a 6 {
roger_wee 0:048a74dd7c3a 7 public:
roger_wee 0:048a74dd7c3a 8
roger_wee 0:048a74dd7c3a 9 //Constants used in some of the functions below
roger_wee 0:048a74dd7c3a 10 #define AUTOMATIC 1
roger_wee 0:048a74dd7c3a 11 #define MANUAL 0
roger_wee 0:048a74dd7c3a 12 #define DIRECT 0
roger_wee 0:048a74dd7c3a 13 #define REVERSE 1
roger_wee 0:048a74dd7c3a 14
roger_wee 0:048a74dd7c3a 15 //commonly used functions **************************************************************************
roger_wee 0:048a74dd7c3a 16 PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
roger_wee 0:048a74dd7c3a 17 double, double, double, int); // Setpoint. Initial tuning parameters are also set here
roger_wee 0:048a74dd7c3a 18
roger_wee 0:048a74dd7c3a 19 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
roger_wee 0:048a74dd7c3a 20
roger_wee 0:048a74dd7c3a 21 bool Compute(); // * performs the PID calculation. it should be
roger_wee 0:048a74dd7c3a 22 // called every time loop() cycles. ON/OFF and
roger_wee 0:048a74dd7c3a 23 // calculation frequency can be set using SetMode
roger_wee 0:048a74dd7c3a 24 // SetSampleTime respectively
roger_wee 0:048a74dd7c3a 25
roger_wee 0:048a74dd7c3a 26 void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
roger_wee 0:048a74dd7c3a 27 //it's likely the user will want to change this depending on
roger_wee 0:048a74dd7c3a 28 //the application
roger_wee 0:048a74dd7c3a 29
roger_wee 0:048a74dd7c3a 30
roger_wee 0:048a74dd7c3a 31
roger_wee 0:048a74dd7c3a 32 //available but not commonly used functions ********************************************************
roger_wee 0:048a74dd7c3a 33 void SetTunings(double, double, // * While most users will set the tunings once in the
roger_wee 0:048a74dd7c3a 34 double); // constructor, this function gives the user the option
roger_wee 0:048a74dd7c3a 35 // of changing tunings during runtime for Adaptive control
roger_wee 0:048a74dd7c3a 36 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
roger_wee 0:048a74dd7c3a 37 // means the output will increase when error is positive. REVERSE
roger_wee 0:048a74dd7c3a 38 // means the opposite. it's very unlikely that this will be needed
roger_wee 0:048a74dd7c3a 39 // once it is set in the constructor.
roger_wee 0:048a74dd7c3a 40 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
roger_wee 0:048a74dd7c3a 41 // the PID calculation is performed. default is 100
roger_wee 0:048a74dd7c3a 42
roger_wee 0:048a74dd7c3a 43 // void changeSetpoint(*double); // changes system setpoint
roger_wee 0:048a74dd7c3a 44
roger_wee 0:048a74dd7c3a 45 //Display functions ****************************************************************
roger_wee 0:048a74dd7c3a 46 double GetKp(); // These functions query the pid for interal values.
roger_wee 0:048a74dd7c3a 47 double GetKi(); // they were created mainly for the pid front-end,
roger_wee 0:048a74dd7c3a 48 double GetKd(); // where it's important to know what is actually
roger_wee 0:048a74dd7c3a 49 int GetMode(); // inside the PID.
roger_wee 0:048a74dd7c3a 50 int GetDirection(); //
roger_wee 0:048a74dd7c3a 51
roger_wee 0:048a74dd7c3a 52 private:
roger_wee 0:048a74dd7c3a 53 void Initialize();
roger_wee 0:048a74dd7c3a 54
roger_wee 0:048a74dd7c3a 55 double dispKp; // * we'll hold on to the tuning parameters in user-entered
roger_wee 0:048a74dd7c3a 56 double dispKi; // format for display purposes
roger_wee 0:048a74dd7c3a 57 double dispKd; //
roger_wee 0:048a74dd7c3a 58
roger_wee 0:048a74dd7c3a 59 double kp; // * (P)roportional Tuning Parameter
roger_wee 0:048a74dd7c3a 60 double ki; // * (I)ntegral Tuning Parameter
roger_wee 0:048a74dd7c3a 61 double kd; // * (D)erivative Tuning Parameter
roger_wee 0:048a74dd7c3a 62
roger_wee 0:048a74dd7c3a 63 int controllerDirection;
roger_wee 0:048a74dd7c3a 64
roger_wee 0:048a74dd7c3a 65 double *myInput; // * Pointers to the Input, Output, and Setpoint variables
roger_wee 0:048a74dd7c3a 66 double *myOutput; // This creates a hard link between the variables and the
roger_wee 0:048a74dd7c3a 67 double *mySetpoint; // PID, freeing the user from having to constantly tell us
roger_wee 0:048a74dd7c3a 68 // what these values are. with pointers we'll just know.
roger_wee 0:048a74dd7c3a 69
roger_wee 0:048a74dd7c3a 70 unsigned long lastTime;
roger_wee 0:048a74dd7c3a 71 double ITerm, lastInput;
roger_wee 0:048a74dd7c3a 72
roger_wee 0:048a74dd7c3a 73 unsigned long SampleTime;
roger_wee 0:048a74dd7c3a 74 double outMin, outMax;
roger_wee 0:048a74dd7c3a 75 bool inAuto;
roger_wee 0:048a74dd7c3a 76 Timer t;
roger_wee 0:048a74dd7c3a 77 };
roger_wee 0:048a74dd7c3a 78
roger_wee 0:048a74dd7c3a 79 #endif