root / control / pid_control.cpp @ master
History | View | Annotate | Download (983 Bytes)
| 1 | a6ca8c2b | Priya | #include "pid_control.h" |
|---|---|---|---|
| 2 | |||
| 3 | 71780e9c | Priya | PID_control::PID_control(float p_term, float d_term, float i_term, float goal) |
| 4 | a6ca8c2b | Priya | {
|
| 5 | k_p = p_term; |
||
| 6 | k_d = d_term; |
||
| 7 | k_i = i_term; |
||
| 8 | set_config = goal; |
||
| 9 | c7e517ce | Tom Mullins | reset(); |
| 10 | a6ca8c2b | Priya | } |
| 11 | |||
| 12 | 71780e9c | Priya | PID_control::PID_control(float p_term, float d_term, float i_term) |
| 13 | a6ca8c2b | Priya | {
|
| 14 | k_p = p_term; |
||
| 15 | k_d = d_term; |
||
| 16 | k_i = i_term; |
||
| 17 | c7e517ce | Tom Mullins | set_config = 0;
|
| 18 | reset(); |
||
| 19 | a6ca8c2b | Priya | } |
| 20 | |||
| 21 | c7e517ce | Tom Mullins | void PID_control::reset()
|
| 22 | a6ca8c2b | Priya | {
|
| 23 | c7e517ce | Tom Mullins | P_err = 0;
|
| 24 | a6ca8c2b | Priya | I_err = 0;
|
| 25 | c7e517ce | Tom Mullins | D_err = 0;
|
| 26 | prev_error = 0;
|
||
| 27 | } |
||
| 28 | |||
| 29 | void PID_control::change_goal(float goal) |
||
| 30 | {
|
||
| 31 | set_config = goal; |
||
| 32 | reset(); |
||
| 33 | } |
||
| 34 | |||
| 35 | void PID_control::change_p(float p) |
||
| 36 | {
|
||
| 37 | k_p = p; |
||
| 38 | reset(); |
||
| 39 | } |
||
| 40 | |||
| 41 | void PID_control::change_i(float i) |
||
| 42 | {
|
||
| 43 | k_i = i; |
||
| 44 | reset(); |
||
| 45 | } |
||
| 46 | |||
| 47 | void PID_control::change_d(float d) |
||
| 48 | {
|
||
| 49 | k_d = d; |
||
| 50 | reset(); |
||
| 51 | a6ca8c2b | Priya | } |
| 52 | |||
| 53 | 7741ab09 | Priya | float PID_control::pid(float input, double time) |
| 54 | a6ca8c2b | Priya | {
|
| 55 | c7e517ce | Tom Mullins | float error = set_config - input;
|
| 56 | 7741ab09 | Priya | double dt = time - prev_time;
|
| 57 | a6ca8c2b | Priya | |
| 58 | P_err = error; |
||
| 59 | c7e517ce | Tom Mullins | I_err += prev_error*dt; |
| 60 | 7741ab09 | Priya | D_err = (error - prev_error)/dt; |
| 61 | a6ca8c2b | Priya | |
| 62 | 7741ab09 | Priya | prev_time = time; |
| 63 | c7e517ce | Tom Mullins | prev_error = error; |
| 64 | return k_p*P_err + k_i*I_err + k_d*D_err;
|
||
| 65 | a6ca8c2b | Priya | } |