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Base/Asservissement.cpp
- Committer:
- xav_jann1
- Date:
- 2019-05-22
- Revision:
- 0:1cfd66c3a181
File content as of revision 0:1cfd66c3a181:
#include "Asservissement.h" // Constructeur: Asservissement::Asservissement(float P, float I, float D) { // PID: m_P = P; m_I = I; m_D = D; m_erreur_integral = 0; printf("Asservissement:\r\n"); printf(" - P: %p\r\n", &m_P); printf(" - I: %p\r\n", &m_I); printf(" - D: %p\r\n", &m_D); } // Setters: void Asservissement::setP(float P) { m_P = P; } void Asservissement::setI(float I) { m_I = I; } void Asservissement::setD(float D) { m_D = D; } void Asservissement::setPID(float P, float I, float D) { m_P = P; m_I = I; m_D = D; } // Pointeurs: float* Asservissement::getP_ptr() { return &m_P; } float* Asservissement::getI_ptr() { return &m_I; } float* Asservissement::getD_ptr() { return &m_D; } // Asservissement: void Asservissement::toValue(float value) { m_desired_value = value; m_erreur_integral = 0; } // Calcul de l'erreur: float Asservissement::computeError(float value) { // Erreur de valeur: float erreur = m_desired_value - value; // Dérivée: float delta_erreur = m_erreur_prev - erreur; // Intégrale: m_erreur_integral += erreur; // Erreur totale: float total_erreur = m_P * erreur + m_I * m_erreur_integral + m_D * delta_erreur; // Enregistrement: m_erreur_prev = erreur; return total_erreur; }