Diff: VerticalController.cpp

Revision:

0:115db3c33311

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VerticalController.cpp	Wed Oct 24 11:58:36 2018 +0000
@@ -0,0 +1,24 @@
+# include "mbed.h"
+# include "VerticalController.h"
+// Class constructor
+VerticalController :: VerticalController ()
+{
+    f_t=0;
+    z_e_last=0;
+    
+    float os=0.5f;
+    float t_s=2.0f;
+    float zeta=abs(log(os/100.0f))/sqrt(pow(log(os/100.0f)),2)+pow(3.1415f,2));
+    float w_n=4.0f/(t_s*zeta);
+    kp=pow(w_n, 2);
+    kd=2.0f*zeta*w_n;
+}
+// Control thrust force (N) given vertical position (m) and velocity (m/s)
+void VerticalController :: control ( float z_r , float z, float w)
+{
+    float erro_e=z_r-z;
+    float erro_e_ponto=(erro_e-z_e_last)/0.002f;
+    z_e_last=erro;
+    float z_r_2pontos=kp*erro_e+kd*erro_e_ponto;
+    f_t=z_r_2pontos*30e-3;
+}
\ No newline at end of file