Revision 71780e9c
| ID | 71780e9c3f71dc76792785ada940cacd83cda58e |
tested pid_control and fixed it. added the test file for future reference
| control/pid_control.cpp | ||
|---|---|---|
| 1 | 1 |
#include "pid_control.h" |
| 2 |
#include "assert.h" |
|
| 3 | 2 |
|
| 4 |
PID_control::PID_control(int p_term, int d_term, int i_term, float goal);
|
|
| 3 |
PID_control::PID_control(float p_term, float d_term, float i_term, float goal)
|
|
| 5 | 4 |
{
|
| 6 | 5 |
P_err = 0; |
| 7 | 6 |
I_err = 0; |
| ... | ... | |
| 14 | 13 |
set_config = goal; |
| 15 | 14 |
} |
| 16 | 15 |
|
| 17 |
PID_control::PID_control(int p_term, int d_term, int i_term)
|
|
| 16 |
PID_control::PID_control(float p_term, float d_term, float i_term)
|
|
| 18 | 17 |
{
|
| 19 | 18 |
P_err = 0; |
| 20 | 19 |
I_err = 0; |
| ... | ... | |
| 42 | 41 |
|
| 43 | 42 |
return k_p*P_err + k_i*I_err + k_d * D_err; |
| 44 | 43 |
} |
| 45 |
|
|
| control/pid_control.h | ||
|---|---|---|
| 4 | 4 |
class PID_control |
| 5 | 5 |
{
|
| 6 | 6 |
public: |
| 7 |
PID_control(int p_term, int d_term, int i_term, float goal);
|
|
| 8 |
PID_control(int p_term, int d_term, int i_term);
|
|
| 7 |
PID_control(float p_term, float d_term, float i_term, float goal);
|
|
| 8 |
PID_control(float p_term, float d_term, float i_term);
|
|
| 9 | 9 |
|
| 10 | 10 |
void change_goal(float goal); |
| 11 | 11 |
|
| 12 | 12 |
float pid(float input); |
| 13 | 13 |
|
| 14 | 14 |
private: |
| 15 |
int k_p;
|
|
| 16 |
int k_i;
|
|
| 17 |
int k_d;
|
|
| 15 |
float k_p;
|
|
| 16 |
float k_i;
|
|
| 17 |
float k_d;
|
|
| 18 | 18 |
|
| 19 | 19 |
float set_config; |
| 20 | 20 |
float error; |
| control/pid_test.cpp | ||
|---|---|---|
| 1 |
#include "pid_control.h" |
|
| 2 |
#include <stdio.h> |
|
| 3 |
|
|
| 4 |
int main() |
|
| 5 |
{
|
|
| 6 |
PID_control* meow = new PID_control(.07, .01, .7, 5); |
|
| 7 |
float result = 1; |
|
| 8 |
for(int counter = 0; counter < 100; counter++) |
|
| 9 |
{
|
|
| 10 |
result = meow->pid(result); |
|
| 11 |
printf("%f\t", result);
|
|
| 12 |
} |
|
| 13 |
return 0; |
|
| 14 |
} |
|
Also available in: Unified diff