涂 桂旺 / Mbed OS car_scr

test

Dependencies:   ESP8266 HCSR04 PID

Fork of car_test_v1 by 涂 桂旺

AutomationElement/I.cpp@3:9e51de1050a1, 2017-11-25 (annotated)

Committer:
tgw
Date:
Sat Nov 25 03:36:58 2017 +0000
Revision:
3:9e51de1050a1
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tgw 3:9e51de1050a1 1 #include "I.h"
tgw 3:9e51de1050a1 2
tgw 3:9e51de1050a1 3 I::I() {
tgw 3:9e51de1050a1 4 u = y = u_p1 = y_p1 = 0;
tgw 3:9e51de1050a1 5 setParameters(1, 0.1);
tgw 3:9e51de1050a1 6 }
tgw 3:9e51de1050a1 7
tgw 3:9e51de1050a1 8 I::I(double K_I_, double T_d_) {
tgw 3:9e51de1050a1 9 u = y = u_p1 = y_p1 = 0;
tgw 3:9e51de1050a1 10 setParameters(K_I_, T_d_);
tgw 3:9e51de1050a1 11 }
tgw 3:9e51de1050a1 12
tgw 3:9e51de1050a1 13 void I::setParameters(double K_I_, double T_d_) {
tgw 3:9e51de1050a1 14 if (T_d_ > 0)
tgw 3:9e51de1050a1 15 T_d = T_d_;
tgw 3:9e51de1050a1 16 else
tgw 3:9e51de1050a1 17 T_d = 0.1;
tgw 3:9e51de1050a1 18 K_I = K_I_;
tgw 3:9e51de1050a1 19 }
tgw 3:9e51de1050a1 20
tgw 3:9e51de1050a1 21 double I::out() {
tgw 3:9e51de1050a1 22 y = y_p1 + K_I * T_d * u_p1;
tgw 3:9e51de1050a1 23 y_p1 = y;
tgw 3:9e51de1050a1 24 u_p1 = u;
tgw 3:9e51de1050a1 25 return y;
tgw 3:9e51de1050a1 26 }
tgw 3:9e51de1050a1 27
tgw 3:9e51de1050a1 28 void I::in(double u_) {
tgw 3:9e51de1050a1 29 u = u_;
tgw 3:9e51de1050a1 30 }