Rogelio Vazquez / Mbed 2 deprecated Robosub_test

first publish

Dependencies:   HMC5883L mbed

PID.h@3:394c971eab83, 2017-06-04 (annotated)

Committer:
roger_wee
Date:
Sun Jun 04 06:58:45 2017 +0000
Revision:
3:394c971eab83
Parent:
2:359f1f075c72 
9-dof implementation using madgwick's filter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
roger_wee 0:ce3ac53af6e4 1 #include "mbed.h"
roger_wee 0:ce3ac53af6e4 2 #ifndef PID_H_
roger_wee 0:ce3ac53af6e4 3 #define PID_H_
roger_wee 0:ce3ac53af6e4 4
roger_wee 0:ce3ac53af6e4 5 class PID
roger_wee 0:ce3ac53af6e4 6 {
roger_wee 0:ce3ac53af6e4 7 public:
roger_wee 0:ce3ac53af6e4 8
roger_wee 0:ce3ac53af6e4 9 //Constants used in some of the functions below
roger_wee 0:ce3ac53af6e4 10 #define AUTOMATIC 1
roger_wee 0:ce3ac53af6e4 11 #define MANUAL 0
roger_wee 0:ce3ac53af6e4 12 #define DIRECT 0
roger_wee 0:ce3ac53af6e4 13 #define REVERSE 1
roger_wee 0:ce3ac53af6e4 14
roger_wee 0:ce3ac53af6e4 15 //commonly used functions **************************************************************************
roger_wee 0:ce3ac53af6e4 16 PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
roger_wee 0:ce3ac53af6e4 17 double, double, double, int); // Setpoint. Initial tuning parameters are also set here
roger_wee 0:ce3ac53af6e4 18
roger_wee 0:ce3ac53af6e4 19 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
roger_wee 0:ce3ac53af6e4 20
roger_wee 0:ce3ac53af6e4 21 bool Compute(); // * performs the PID calculation. it should be
roger_wee 0:ce3ac53af6e4 22 // called every time loop() cycles. ON/OFF and
roger_wee 0:ce3ac53af6e4 23 // calculation frequency can be set using SetMode
roger_wee 0:ce3ac53af6e4 24 // SetSampleTime respectively
roger_wee 0:ce3ac53af6e4 25
roger_wee 0:ce3ac53af6e4 26 void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
roger_wee 0:ce3ac53af6e4 27 //it's likely the user will want to change this depending on
roger_wee 0:ce3ac53af6e4 28 //the application
roger_wee 0:ce3ac53af6e4 29
roger_wee 0:ce3ac53af6e4 30
roger_wee 0:ce3ac53af6e4 31
roger_wee 0:ce3ac53af6e4 32 //available but not commonly used functions ********************************************************
roger_wee 0:ce3ac53af6e4 33 void SetTunings(double, double, // * While most users will set the tunings once in the
roger_wee 0:ce3ac53af6e4 34 double); // constructor, this function gives the user the option
roger_wee 0:ce3ac53af6e4 35 // of changing tunings during runtime for Adaptive control
roger_wee 0:ce3ac53af6e4 36 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
roger_wee 0:ce3ac53af6e4 37 // means the output will increase when error is positive. REVERSE
roger_wee 0:ce3ac53af6e4 38 // means the opposite. it's very unlikely that this will be needed
roger_wee 0:ce3ac53af6e4 39 // once it is set in the constructor.
roger_wee 0:ce3ac53af6e4 40 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
roger_wee 0:ce3ac53af6e4 41 // the PID calculation is performed. default is 100
roger_wee 0:ce3ac53af6e4 42
roger_wee 2:359f1f075c72 43 // void changeSetpoint(*double); // changes system setpoint
roger_wee 0:ce3ac53af6e4 44
roger_wee 0:ce3ac53af6e4 45 //Display functions ****************************************************************
roger_wee 0:ce3ac53af6e4 46 double GetKp(); // These functions query the pid for interal values.
roger_wee 0:ce3ac53af6e4 47 double GetKi(); // they were created mainly for the pid front-end,
roger_wee 0:ce3ac53af6e4 48 double GetKd(); // where it's important to know what is actually
roger_wee 0:ce3ac53af6e4 49 int GetMode(); // inside the PID.
roger_wee 0:ce3ac53af6e4 50 int GetDirection(); //
roger_wee 0:ce3ac53af6e4 51
roger_wee 0:ce3ac53af6e4 52 private:
roger_wee 0:ce3ac53af6e4 53 void Initialize();
roger_wee 0:ce3ac53af6e4 54
roger_wee 0:ce3ac53af6e4 55 double dispKp; // * we'll hold on to the tuning parameters in user-entered
roger_wee 0:ce3ac53af6e4 56 double dispKi; // format for display purposes
roger_wee 0:ce3ac53af6e4 57 double dispKd; //
roger_wee 0:ce3ac53af6e4 58
roger_wee 0:ce3ac53af6e4 59 double kp; // * (P)roportional Tuning Parameter
roger_wee 0:ce3ac53af6e4 60 double ki; // * (I)ntegral Tuning Parameter
roger_wee 0:ce3ac53af6e4 61 double kd; // * (D)erivative Tuning Parameter
roger_wee 0:ce3ac53af6e4 62
roger_wee 0:ce3ac53af6e4 63 int controllerDirection;
roger_wee 0:ce3ac53af6e4 64
roger_wee 0:ce3ac53af6e4 65 double *myInput; // * Pointers to the Input, Output, and Setpoint variables
roger_wee 0:ce3ac53af6e4 66 double *myOutput; // This creates a hard link between the variables and the
roger_wee 0:ce3ac53af6e4 67 double *mySetpoint; // PID, freeing the user from having to constantly tell us
roger_wee 0:ce3ac53af6e4 68 // what these values are. with pointers we'll just know.
roger_wee 0:ce3ac53af6e4 69
roger_wee 0:ce3ac53af6e4 70 unsigned long lastTime;
roger_wee 0:ce3ac53af6e4 71 double ITerm, lastInput;
roger_wee 0:ce3ac53af6e4 72
roger_wee 0:ce3ac53af6e4 73 unsigned long SampleTime;
roger_wee 0:ce3ac53af6e4 74 double outMin, outMax;
roger_wee 0:ce3ac53af6e4 75 bool inAuto;
roger_wee 0:ce3ac53af6e4 76 Timer t;
roger_wee 0:ce3ac53af6e4 77 };
roger_wee 0:ce3ac53af6e4 78
roger_wee 0:ce3ac53af6e4 79 #endif