Ryosuke Matsushima / PID

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Dependents:   TUKUBAMotorDriver

PID.cpp

Committer:
ryosukenanoda
Date:
2020-12-30
Revision:
1:e2fb92398c1f
Parent:
0:4b3a2875ad1d
Child:
2:0413525bbb2e

File content as of revision 1:e2fb92398c1f:

#include "mbed.h"
#include "PID.h"

PID::PID(float p, float i, float d) {
    _p = p;
    _i = i;
    _d = d;

    target_val = 0.0;
    integral_val = 0.0;
    last_time = 0; //us
    last_val = 0.0;

    timer.start();
};

float PID::get_input(float val) {
    int now_time = timer.read_us();
    float dt = now_time - last_time;
    dt /= pow(10.0, 6.0);

    val = target_val - val;
    integral_val += (last_val * val) / 2 * dt;
    float d_val = (val - last_val) / dt;
    last_time = now_time;
    last_val = val;

    return _p * val+ _i * integral_val + _d * d_val;
};

void PID::set_target(float val) {
    target_val = val;
    reset_integral_val();
};

void PID::reset_integral_val() {
    integral_val = 0.0;
};