ported pid library from imu
Dependents: wheelchaircontrol wheelchaircontrolRos
PID_v1.h@0:539e3b3b91e1, 2018-08-09 (annotated)
- Committer:
- ryanlin97
- Date:
- Thu Aug 09 16:36:32 2018 +0000
- Revision:
- 0:539e3b3b91e1
- Child:
- 1:45383b49536c
initial commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:539e3b3b91e1 | 1 | #ifndef PID_v1_h |
ryanlin97 | 0:539e3b3b91e1 | 2 | #define PID_v1_h |
ryanlin97 | 0:539e3b3b91e1 | 3 | #define LIBRARY_VERSION 1.2.1 |
ryanlin97 | 0:539e3b3b91e1 | 4 | |
ryanlin97 | 0:539e3b3b91e1 | 5 | #include "mbed.h" |
ryanlin97 | 0:539e3b3b91e1 | 6 | |
ryanlin97 | 0:539e3b3b91e1 | 7 | class PID |
ryanlin97 | 0:539e3b3b91e1 | 8 | { |
ryanlin97 | 0:539e3b3b91e1 | 9 | |
ryanlin97 | 0:539e3b3b91e1 | 10 | |
ryanlin97 | 0:539e3b3b91e1 | 11 | public: |
ryanlin97 | 0:539e3b3b91e1 | 12 | |
ryanlin97 | 0:539e3b3b91e1 | 13 | //Constants used in some of the functions below |
ryanlin97 | 0:539e3b3b91e1 | 14 | #define AUTOMATIC 1 |
ryanlin97 | 0:539e3b3b91e1 | 15 | #define MANUAL 0 |
ryanlin97 | 0:539e3b3b91e1 | 16 | #define DIRECT 0 |
ryanlin97 | 0:539e3b3b91e1 | 17 | #define REVERSE 1 |
ryanlin97 | 0:539e3b3b91e1 | 18 | #define P_ON_M 0 |
ryanlin97 | 0:539e3b3b91e1 | 19 | #define P_ON_E 1 |
ryanlin97 | 0:539e3b3b91e1 | 20 | |
ryanlin97 | 0:539e3b3b91e1 | 21 | //commonly used functions ************************************************************************** |
ryanlin97 | 0:539e3b3b91e1 | 22 | PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and |
ryanlin97 | 0:539e3b3b91e1 | 23 | double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. |
ryanlin97 | 0:539e3b3b91e1 | 24 | // (overload for specifying proportional mode) |
ryanlin97 | 0:539e3b3b91e1 | 25 | |
ryanlin97 | 0:539e3b3b91e1 | 26 | PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and |
ryanlin97 | 0:539e3b3b91e1 | 27 | double, double, double, int); // Setpoint. Initial tuning parameters are also set here |
ryanlin97 | 0:539e3b3b91e1 | 28 | |
ryanlin97 | 0:539e3b3b91e1 | 29 | void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) |
ryanlin97 | 0:539e3b3b91e1 | 30 | |
ryanlin97 | 0:539e3b3b91e1 | 31 | bool Compute(); // * performs the PID calculation. it should be |
ryanlin97 | 0:539e3b3b91e1 | 32 | // called every time loop() cycles. ON/OFF and |
ryanlin97 | 0:539e3b3b91e1 | 33 | // calculation frequency can be set using SetMode |
ryanlin97 | 0:539e3b3b91e1 | 34 | // SetSampleTime respectively |
ryanlin97 | 0:539e3b3b91e1 | 35 | |
ryanlin97 | 0:539e3b3b91e1 | 36 | void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but |
ryanlin97 | 0:539e3b3b91e1 | 37 | // it's likely the user will want to change this depending on |
ryanlin97 | 0:539e3b3b91e1 | 38 | // the application |
ryanlin97 | 0:539e3b3b91e1 | 39 | |
ryanlin97 | 0:539e3b3b91e1 | 40 | |
ryanlin97 | 0:539e3b3b91e1 | 41 | |
ryanlin97 | 0:539e3b3b91e1 | 42 | //available but not commonly used functions ******************************************************** |
ryanlin97 | 0:539e3b3b91e1 | 43 | void SetTunings(double, double, // * While most users will set the tunings once in the |
ryanlin97 | 0:539e3b3b91e1 | 44 | double); // constructor, this function gives the user the option |
ryanlin97 | 0:539e3b3b91e1 | 45 | // of changing tunings during runtime for Adaptive control |
ryanlin97 | 0:539e3b3b91e1 | 46 | void SetTunings(double, double, // * overload for specifying proportional mode |
ryanlin97 | 0:539e3b3b91e1 | 47 | double, int); |
ryanlin97 | 0:539e3b3b91e1 | 48 | |
ryanlin97 | 0:539e3b3b91e1 | 49 | void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT |
ryanlin97 | 0:539e3b3b91e1 | 50 | // means the output will increase when error is positive. REVERSE |
ryanlin97 | 0:539e3b3b91e1 | 51 | // means the opposite. it's very unlikely that this will be needed |
ryanlin97 | 0:539e3b3b91e1 | 52 | // once it is set in the constructor. |
ryanlin97 | 0:539e3b3b91e1 | 53 | void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which |
ryanlin97 | 0:539e3b3b91e1 | 54 | // the PID calculation is performed. default is 100 |
ryanlin97 | 0:539e3b3b91e1 | 55 | |
ryanlin97 | 0:539e3b3b91e1 | 56 | |
ryanlin97 | 0:539e3b3b91e1 | 57 | double *myInput; // * Pointers to the Input, Output, and Setpoint variables |
ryanlin97 | 0:539e3b3b91e1 | 58 | double *myOutput; // This creates a hard link between the variables and the |
ryanlin97 | 0:539e3b3b91e1 | 59 | double *mySetpoint; |
ryanlin97 | 0:539e3b3b91e1 | 60 | |
ryanlin97 | 0:539e3b3b91e1 | 61 | //Display functions **************************************************************** |
ryanlin97 | 0:539e3b3b91e1 | 62 | double GetKp(); // These functions query the pid for interal values. |
ryanlin97 | 0:539e3b3b91e1 | 63 | double GetKi(); // they were created mainly for the pid front-end, |
ryanlin97 | 0:539e3b3b91e1 | 64 | double GetKd(); // where it's important to know what is actually |
ryanlin97 | 0:539e3b3b91e1 | 65 | int GetMode(); // inside the PID. |
ryanlin97 | 0:539e3b3b91e1 | 66 | int GetDirection(); // |
ryanlin97 | 0:539e3b3b91e1 | 67 | |
ryanlin97 | 0:539e3b3b91e1 | 68 | private: |
ryanlin97 | 0:539e3b3b91e1 | 69 | void Initialize(); |
ryanlin97 | 0:539e3b3b91e1 | 70 | |
ryanlin97 | 0:539e3b3b91e1 | 71 | double dispKp; // * we'll hold on to the tuning parameters in user-entered |
ryanlin97 | 0:539e3b3b91e1 | 72 | double dispKi; // format for display purposes |
ryanlin97 | 0:539e3b3b91e1 | 73 | double dispKd; // |
ryanlin97 | 0:539e3b3b91e1 | 74 | |
ryanlin97 | 0:539e3b3b91e1 | 75 | double kp; // * (P)roportional Tuning Parameter |
ryanlin97 | 0:539e3b3b91e1 | 76 | double ki; // * (I)ntegral Tuning Parameter |
ryanlin97 | 0:539e3b3b91e1 | 77 | double kd; // * (D)erivative Tuning Parameter |
ryanlin97 | 0:539e3b3b91e1 | 78 | |
ryanlin97 | 0:539e3b3b91e1 | 79 | int controllerDirection; |
ryanlin97 | 0:539e3b3b91e1 | 80 | int pOn; |
ryanlin97 | 0:539e3b3b91e1 | 81 | |
ryanlin97 | 0:539e3b3b91e1 | 82 | // double *myInput; // * Pointers to the Input, Output, and Setpoint variables |
ryanlin97 | 0:539e3b3b91e1 | 83 | // double *myOutput; // This creates a hard link between the variables and the |
ryanlin97 | 0:539e3b3b91e1 | 84 | // double *mySetpoint; // PID, freeing the user from having to constantly tell us |
ryanlin97 | 0:539e3b3b91e1 | 85 | // what these values are. with pointers we'll just know. |
ryanlin97 | 0:539e3b3b91e1 | 86 | |
ryanlin97 | 0:539e3b3b91e1 | 87 | unsigned long lastTime; |
ryanlin97 | 0:539e3b3b91e1 | 88 | double outputSum, lastInput; |
ryanlin97 | 0:539e3b3b91e1 | 89 | |
ryanlin97 | 0:539e3b3b91e1 | 90 | unsigned long SampleTime; |
ryanlin97 | 0:539e3b3b91e1 | 91 | double outMin, outMax; |
ryanlin97 | 0:539e3b3b91e1 | 92 | bool inAuto, pOnE; |
ryanlin97 | 0:539e3b3b91e1 | 93 | |
ryanlin97 | 0:539e3b3b91e1 | 94 | }; |
ryanlin97 | 0:539e3b3b91e1 | 95 | #endif |
ryanlin97 | 0:539e3b3b91e1 | 96 | |
ryanlin97 | 0:539e3b3b91e1 | 97 |