Wik de Haas / Mbed 2 deprecated Aansturing_Groep_4

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Dependencies:   Encoder HIDScope mbed

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Show/hide line numbers PID.cpp Source File

PID.cpp

00001 #include "PID.h"
00002 
00003 double PID( double err, const double Kp, const double Ki, const double Kd, const double Ts, const double N, double &v1, double &v2 ) {
00004 // These variables are only calculated once!
00005 const double a1 = -4/(N*Ts+2), 
00006 a2 = -(N*Ts-2)/(N*Ts+2), 
00007 b0 = (4*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4), 
00008 b1 = (Ki*N*pow(Ts,2) - 4*Kp - 4*Kd*N)/(N*Ts + 2),
00009 b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
00010 
00011 double v = err - a1*v1 - a2*v2;
00012 double u = b0*v + b1*v1 + b2*v2;
00013 v2 = v1; v1 = v;
00014 return u;
00015 }
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