hidaka sato / PID2

Universal PID library

Dependents:   WRS2019_master FourOmniMecha WRS2020_mecanum_node

PID.h@0:873985df821c, 2019-12-14 (annotated)

Committer:
sgrsn
Date:
Sat Dec 14 12:23:58 2019 +0000
Revision:
0:873985df821c
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:873985df821c 1 #ifndef PID_H
sgrsn 0:873985df821c 2 #define PID_H
sgrsn 0:873985df821c 3 #include "mbed.h"
sgrsn 0:873985df821c 4
sgrsn 0:873985df821c 5 /*sample code
sgrsn 0:873985df821c 6
sgrsn 0:873985df821c 7 */
sgrsn 0:873985df821c 8
sgrsn 0:873985df821c 9 class PID
sgrsn 0:873985df821c 10 {
sgrsn 0:873985df821c 11 public:
sgrsn 0:873985df821c 12 PID(Timer *T);
sgrsn 0:873985df821c 13
sgrsn 0:873985df821c 14 float controlP(float target, float current, float new_Kp);
sgrsn 0:873985df821c 15 float controlPI(float target, float current);
sgrsn 0:873985df821c 16 float controlPID(float target, float current);
sgrsn 0:873985df821c 17
sgrsn 0:873985df821c 18 void setParameter(float new_Kp, float new_Ki, float new_Kd);
sgrsn 0:873985df821c 19 void setParameter(float new_Ku, float new_Pu);
sgrsn 0:873985df821c 20 void setParameterPI(float new_Ku, float new_Pu);
sgrsn 0:873985df821c 21 void reset();
sgrsn 0:873985df821c 22
sgrsn 0:873985df821c 23 float Ku;
sgrsn 0:873985df821c 24 float Pu;
sgrsn 0:873985df821c 25 float Kp;
sgrsn 0:873985df821c 26 float Ti;
sgrsn 0:873985df821c 27 float Td;
sgrsn 0:873985df821c 28 float Ki;
sgrsn 0:873985df821c 29 float Kd;
sgrsn 0:873985df821c 30
sgrsn 0:873985df821c 31 private:
sgrsn 0:873985df821c 32 Timer *timer;
sgrsn 0:873985df821c 33 float integral;
sgrsn 0:873985df821c 34 float last_error;
sgrsn 0:873985df821c 35 float current_time;
sgrsn 0:873985df821c 36 float last_time;
sgrsn 0:873985df821c 37 };
sgrsn 0:873985df821c 38
sgrsn 0:873985df821c 39 #endif