ported pid library from imu
Dependents: wheelchaircontrol wheelchaircontrolRos
Diff: PID_v1.h
- Revision:
- 0:539e3b3b91e1
- Child:
- 1:45383b49536c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID_v1.h Thu Aug 09 16:36:32 2018 +0000 @@ -0,0 +1,97 @@ +#ifndef PID_v1_h +#define PID_v1_h +#define LIBRARY_VERSION 1.2.1 + +#include "mbed.h" + +class PID +{ + + + public: + + //Constants used in some of the functions below + #define AUTOMATIC 1 + #define MANUAL 0 + #define DIRECT 0 + #define REVERSE 1 + #define P_ON_M 0 + #define P_ON_E 1 + + //commonly used functions ************************************************************************** + PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and + double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. + // (overload for specifying proportional mode) + + PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and + double, double, double, int); // Setpoint. Initial tuning parameters are also set here + + void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) + + bool Compute(); // * performs the PID calculation. it should be + // called every time loop() cycles. ON/OFF and + // calculation frequency can be set using SetMode + // SetSampleTime respectively + + void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but + // it's likely the user will want to change this depending on + // the application + + + + //available but not commonly used functions ******************************************************** + void SetTunings(double, double, // * While most users will set the tunings once in the + double); // constructor, this function gives the user the option + // of changing tunings during runtime for Adaptive control + void SetTunings(double, double, // * overload for specifying proportional mode + double, int); + + void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT + // means the output will increase when error is positive. REVERSE + // means the opposite. it's very unlikely that this will be needed + // once it is set in the constructor. + void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which + // the PID calculation is performed. default is 100 + + + double *myInput; // * Pointers to the Input, Output, and Setpoint variables + double *myOutput; // This creates a hard link between the variables and the + double *mySetpoint; + + //Display functions **************************************************************** + double GetKp(); // These functions query the pid for interal values. + double GetKi(); // they were created mainly for the pid front-end, + double GetKd(); // where it's important to know what is actually + int GetMode(); // inside the PID. + int GetDirection(); // + + private: + void Initialize(); + + double dispKp; // * we'll hold on to the tuning parameters in user-entered + double dispKi; // format for display purposes + double dispKd; // + + double kp; // * (P)roportional Tuning Parameter + double ki; // * (I)ntegral Tuning Parameter + double kd; // * (D)erivative Tuning Parameter + + int controllerDirection; + int pOn; + + // double *myInput; // * Pointers to the Input, Output, and Setpoint variables + // double *myOutput; // This creates a hard link between the variables and the + // double *mySetpoint; // PID, freeing the user from having to constantly tell us + // what these values are. with pointers we'll just know. + + unsigned long lastTime; + double outputSum, lastInput; + + unsigned long SampleTime; + double outMin, outMax; + bool inAuto, pOnE; + +}; +#endif + +