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pid.h
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pid.h
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/*
Ardumower (www.ardumower.de)
Copyright (c) 2013-2014 by Alexander Grau
Copyright (c) 2013-2014 by Sven Gennat
Private-use only! (you need to ask for a commercial-use)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Private-use only! (you need to ask for a commercial-use)
*/
#ifndef PID_H
#define PID_H
#include <Arduino.h>
/*
digital PID controller
*/
class PID
{
public:
PID();
PID(float Kp, float Ki, float Kd);
void reset(void);
float compute();
double Ta; // sampling time
float w; // set value
float x; // current value
float esum; // error sum
float eold; // last error
float y; // control output
float y_min; // minimum control output
float y_max; // maximum control output
float max_output; // maximum output
float Kp; // proportional control
float Ki; // integral control
float Kd; // differential control
unsigned long lastControlTime;
};
class VelocityPID
{
public:
VelocityPID();
VelocityPID(float Kp, float Ki, float Kd);
float compute();
double Ta; // sampling time
float w; // set value
float x; // current value
float eold1; // last error
float eold2; // error n-2
int y; // control output
int yold; // last control output
int y_min; // minimum control output
int y_max; // maximum control output
int max_output; // maximum output
float Kp; // proportional control
float Ki; // integral control
float Kd; // differential control
unsigned long lastControlTime;
};
#endif