sangbae Kim / QEI

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Dependents:   BilateralTeleoperation

PID.h@1:f39ce45861fb, 2022-09-26 (annotated)

Committer:
sangbae
Date:
Mon Sep 26 19:38:40 2022 +0000
Revision:
1:f39ce45861fb
Bilateral Teleoperation between two motors using impedance control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sangbae 1:f39ce45861fb 1 //Ben Katz, 2013
sangbae 1:f39ce45861fb 2 //PID Controller class
sangbae 1:f39ce45861fb 3
sangbae 1:f39ce45861fb 4 #include "mbed.h"
sangbae 1:f39ce45861fb 5 #ifndef PID_H
sangbae 1:f39ce45861fb 6 #define PID_H
sangbae 1:f39ce45861fb 7
sangbae 1:f39ce45861fb 8 class PIDController{
sangbae 1:f39ce45861fb 9 public:
sangbae 1:f39ce45861fb 10
sangbae 1:f39ce45861fb 11 PIDController(float desired_position, float desired_torque, float p_gainp, float d_gainp, float i_gain_p, float p_gain_c, float i_gain_c);
sangbae 1:f39ce45861fb 12 ~PIDController();
sangbae 1:f39ce45861fb 13
sangbae 1:f39ce45861fb 14 float goal_position;
sangbae 1:f39ce45861fb 15 float current_position;
sangbae 1:f39ce45861fb 16
sangbae 1:f39ce45861fb 17 float kp_p;
sangbae 1:f39ce45861fb 18 float kd_p;
sangbae 1:f39ce45861fb 19 float ki_p;
sangbae 1:f39ce45861fb 20
sangbae 1:f39ce45861fb 21 float kp_c;
sangbae 1:f39ce45861fb 22 float ki_c;
sangbae 1:f39ce45861fb 23 float c_error;
sangbae 1:f39ce45861fb 24 float error_sum;
sangbae 1:f39ce45861fb 25 float command;
sangbae 1:f39ce45861fb 26 float torque_command;
sangbae 1:f39ce45861fb 27 float c_torque;
sangbae 1:f39ce45861fb 28
sangbae 1:f39ce45861fb 29 float error;
sangbae 1:f39ce45861fb 30 float old_error;
sangbae 1:f39ce45861fb 31 float integral_error;
sangbae 1:f39ce45861fb 32
sangbae 1:f39ce45861fb 33
sangbae 1:f39ce45861fb 34 int counter;
sangbae 1:f39ce45861fb 35
sangbae 1:f39ce45861fb 36 Timer timer;
sangbae 1:f39ce45861fb 37
sangbae 1:f39ce45861fb 38 float torque;
sangbae 1:f39ce45861fb 39 float direction;
sangbae 1:f39ce45861fb 40
sangbae 1:f39ce45861fb 41 float past_currents [5];
sangbae 1:f39ce45861fb 42
sangbae 1:f39ce45861fb 43 float command_position(void);
sangbae 1:f39ce45861fb 44 float command_torque(void);
sangbae 1:f39ce45861fb 45 float command_position_tm(void);
sangbae 1:f39ce45861fb 46 private:
sangbae 1:f39ce45861fb 47
sangbae 1:f39ce45861fb 48
sangbae 1:f39ce45861fb 49
sangbae 1:f39ce45861fb 50
sangbae 1:f39ce45861fb 51
sangbae 1:f39ce45861fb 52
sangbae 1:f39ce45861fb 53 };
sangbae 1:f39ce45861fb 54 #endif