yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

pid.cpp@0:1456b6f84c75, 2022-02-25 (annotated)

Committer:
yootee
Date:
Fri Feb 25 05:20:11 2022 +0000
Revision:
0:1456b6f84c75
my_custom

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 0:1456b6f84c75 1 #include<pid.hpp>
yootee 0:1456b6f84c75 2
yootee 0:1456b6f84c75 3 Pid::Pid(double get_Kp,double get_Ki,double get_Kd,int plumi){
yootee 0:1456b6f84c75 4 setGain(get_Kp,get_Ki,get_Kd);
yootee 0:1456b6f84c75 5 e_o = 0;
yootee 0:1456b6f84c75 6 e_c = 0;
yootee 0:1456b6f84c75 7 plusminus=plumi;
yootee 0:1456b6f84c75 8 }
yootee 0:1456b6f84c75 9
yootee 0:1456b6f84c75 10 double Pid::returnVal(double get_target,double input_val,double time){
yootee 0:1456b6f84c75 11 target = get_target;
yootee 0:1456b6f84c75 12 e_c = target - input_val;
yootee 0:1456b6f84c75 13 Give_P = Kp * e_c;
yootee 0:1456b6f84c75 14 Give_I=Ki*((e_o+e_c)/2.0/time);
yootee 0:1456b6f84c75 15 Give_D=Kd*(e_c-e_o)*time;
yootee 0:1456b6f84c75 16 e_o = e_c;
yootee 0:1456b6f84c75 17 Operation_amount = plusminus * Operation_amount + Give_P+Give_I-Give_D;
yootee 0:1456b6f84c75 18 if(Operation_amount > max_val){
yootee 0:1456b6f84c75 19 Operation_amount = max_val;
yootee 0:1456b6f84c75 20 }else if(Operation_amount < minimum_val){
yootee 0:1456b6f84c75 21 Operation_amount = minimum_val;
yootee 0:1456b6f84c75 22 }
yootee 0:1456b6f84c75 23 if(target == input_val){
yootee 0:1456b6f84c75 24 Operation_amount = 0;
yootee 0:1456b6f84c75 25 }
yootee 0:1456b6f84c75 26 return Operation_amount;
yootee 0:1456b6f84c75 27 }
yootee 0:1456b6f84c75 28
yootee 0:1456b6f84c75 29 void Pid::setGain(double get_Kp,double get_Ki,double get_Kd){
yootee 0:1456b6f84c75 30 Kp = get_Kp;
yootee 0:1456b6f84c75 31 Ki = get_Ki;
yootee 0:1456b6f84c75 32 Kd = get_Kd;
yootee 0:1456b6f84c75 33 }
yootee 0:1456b6f84c75 34
yootee 0:1456b6f84c75 35 void Pid::setMax(double get_max,double get_min){
yootee 0:1456b6f84c75 36 max_val = get_max;
yootee 0:1456b6f84c75 37 minimum_val = get_min;
yootee 0:1456b6f84c75 38 }