root / control / pid_control.cpp @ a6ca8c2b
History | View | Annotate | Download (683 Bytes)
1 |
#include "pid_control.h" |
---|---|
2 |
#include "assert.h" |
3 |
|
4 |
PID_control::PID_control(int p_term, int d_term, int i_term, float goal); |
5 |
{ |
6 |
P_err = 0;
|
7 |
I_err = 0;
|
8 |
D_err = 0;
|
9 |
|
10 |
k_p = p_term; |
11 |
k_d = d_term; |
12 |
k_i = i_term; |
13 |
|
14 |
set_config = goal; |
15 |
} |
16 |
|
17 |
PID_control::PID_control(int p_term, int d_term, int i_term) |
18 |
{ |
19 |
P_err = 0;
|
20 |
I_err = 0;
|
21 |
D_err = 0;
|
22 |
|
23 |
k_p = p_term; |
24 |
k_d = d_term; |
25 |
k_i = i_term; |
26 |
} |
27 |
|
28 |
void PID_control::change_goal(float goal) |
29 |
{ |
30 |
set_config == goal; |
31 |
I_err = 0;
|
32 |
} |
33 |
|
34 |
float PID_control::pid(float input) |
35 |
{ |
36 |
prev_error = error; |
37 |
error = set_config - input; |
38 |
|
39 |
P_err = error; |
40 |
I_err += prev_error; |
41 |
D_err = error - prev_error; |
42 |
|
43 |
return k_p*P_err + k_i*I_err + k_d * D_err;
|
44 |
} |
45 |
|