Revision 5:6949e401a9ad, committed 2018-11-14

Comitter:

sgrsn

Date:

Wed Nov 14 02:20:07 2018 +0000

Parent:

4:3ca1603fbcda

Commit message:

...

Changed in this revision

--- a/PID.cpp	Fri Sep 30 12:31:16 2016 +0000
+++ b/PID.cpp	Wed Nov 14 02:20:07 2018 +0000
@@ -2,17 +2,17 @@
 
 PID::PID(Timer *T)
 {
-    timer = *T;
+    timer = T;
     integral    = 0;
     prev_hensa  = 0;
     nowtime     = 0;
     prev_time   = 0;
     lateD      = 0;
-    timer.start();
+    timer->start();
 }
-float PID::control(float target, float nowrpm)
+float PID::controlPID(float target, float nowrpm)
 {
-    nowtime = timer.read();
+    nowtime = timer->read();
     float hensa = target - nowrpm;
     float dt = nowtime - prev_time;
     integral += (hensa + prev_hensa) / 2 * dt;
@@ -20,43 +20,46 @@
     float sousaryou = Kp*hensa + Ki*integral + Kd*differential;
     //printf("%f %f %f\r\n", Kp*hensa, Ki*integral, Kd*differential);
     prev_hensa = hensa;
-    prev_time = timer.read();
+    prev_time = nowtime;
     return sousaryou;
 }
 float PID::PI_lateD(float target, float nowrpm)
 {
-    nowtime = timer.read();
+    nowtime = timer->read();
     float hensa = target - nowrpm;
     float dt = nowtime - prev_time;
     integral += (hensa + prev_hensa) / 2 * dt;
     float sousaryou = Kp*hensa + Ki*integral + Kd*lateD;
     prev_hensa = hensa;
-    prev_time = timer.read();
+    prev_time = timer->read();
     lateD = (hensa - prev_hensa) / dt;
     return sousaryou;
 }
-float PID::control_P(float target, float nowrpm, float new_Kp)
+float PID::controlP(float target, float nowrpm, float new_Kp)
 {
     float hensa = target - nowrpm;
     float sousaryou = new_Kp*hensa;
     return sousaryou;
 }
-float PID::control_PI(float target, float nowrpm)
+float PID::controlPI(float target, float nowrpm)
 {
-    Kp = 0.45 * Ku;
-    Ti = 0.83 * Pu;
-    Ki = (1 / Ti) * Kp;
-    nowtime = timer.read();
+    nowtime = timer->read();
     float hensa = target - nowrpm;
     float dt = nowtime - prev_time;
     integral += (hensa + prev_hensa) / 2 * dt;
     float sousaryou = Kp*hensa + Ki*integral;
     //printf("%f %f %f\r\n", Kp*hensa, Ki*integral, Kd*differential);
     prev_hensa = hensa;
-    prev_time = timer.read();
+    prev_time = timer->read();
     return sousaryou;
 }
-void PID::set_parameter(float new_Ku, float new_Pu)
+void PID::setParameter(float new_Kp, float new_Ki, float new_Kd)
+{
+    Kp = new_Kp;
+    Ki = new_Ki;
+    Kd = new_Kd;
+}
+void PID::setParameter(float new_Ku, float new_Pu)
 {  
     Ku = new_Ku;
     Pu = new_Pu;
@@ -67,9 +70,15 @@
     Ki = (1 / Ti) * Kp;
     Kd = Td * Kp;
 }
+void PID::setParameterPI(float new_Ku, float new_Pu)
+{
+    Kp = 0.45 * Ku;
+    Ti = 0.83 * Pu;
+    Ki = (1 / Ti) * Kp;
+}
 void PID::reset()
 {
     integral    = 0;
     prev_hensa  = 0;
-    prev_time = timer.read();
+    prev_time = timer->read();
 }

--- a/PID.h	Fri Sep 30 12:31:16 2016 +0000
+++ b/PID.h	Wed Nov 14 02:20:07 2018 +0000
@@ -6,11 +6,13 @@
 {
     public:
         PID(Timer *T);
-        float control(float target, float nowrpm);
+        float controlPID(float target, float nowrpm);
         float PI_lateD(float target, float nowrpm);
-        float control_P(float target, float nowrpm, float new_Kp);
-        float control_PI(float target, float nowrpm);
-        void set_parameter(float new_Ku, float new_Pu);
+        float controlP(float target, float nowrpm, float new_Kp);
+        float controlPI(float target, float nowrpm);
+        void setParameter(float new_Kp, float new_Ki, float new_Kd);
+        void setParameter(float new_Ku, float new_Pu);
+        void setParameterPI(float new_Ku, float new_Pu);
         void reset();
 
         float Ku;
@@ -22,7 +24,7 @@
         float Kd;
         
         private:
-        Timer timer;
+        Timer *timer;
         float integral;
         float prev_hensa;
         float nowtime;