Diff: control_theory/pid.cpp

Revision:

2:e7b09385d197

Parent:

0:1456b6f84c75

Child:

11:20418879650b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_theory/pid.cpp	Sun Mar 27 04:39:16 2022 +0000
@@ -0,0 +1,38 @@
+#include<pid.hpp>
+
+Pid::Pid(double get_Kp,double get_Ki,double get_Kd,int plumi){
+    setGain(get_Kp,get_Ki,get_Kd);
+    e_o = 0;
+    e_c = 0;
+    plusminus=plumi;
+}
+
+double Pid::returnVal(double get_target,double input_val,double time){
+    target = get_target;
+    e_c = target - input_val;
+    Give_P = Kp * e_c;
+    Give_I=Ki*((e_o+e_c)/2.0/time);
+    Give_D=Kd*(e_c-e_o)*time;
+    e_o = e_c;
+    Operation_amount = plusminus * Operation_amount + Give_P+Give_I-Give_D;
+    if(Operation_amount > max_val){
+        Operation_amount = max_val;
+    }else if(Operation_amount < minimum_val){
+        Operation_amount = minimum_val;
+    }
+    if(target == input_val){
+        Operation_amount = 0;
+    }
+    return Operation_amount;
+}
+
+void Pid::setGain(double get_Kp,double get_Ki,double get_Kd){
+    Kp = get_Kp;
+    Ki = get_Ki;
+    Kd = get_Kd;
+}
+
+void Pid::setMax(double get_max,double get_min){
+    max_val = get_max;
+    minimum_val = get_min;    
+}
\ No newline at end of file