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https://github.com/bjoernellens1/cps_microros_imu.git
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55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
// Copyright (c) 2021 Juan Miguel Jimeno
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "Arduino.h"
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#include "pid.h"
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PID::PID(float min_val, float max_val, float kp, float ki, float kd):
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min_val_(min_val),
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max_val_(max_val),
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kp_(kp),
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ki_(ki),
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kd_(kd)
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{
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}
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double PID::compute(float setpoint, float measured_value)
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{
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double error;
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double pid;
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//setpoint is constrained between min and max to prevent pid from having too much error
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error = setpoint - measured_value;
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integral_ += error;
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derivative_ = error - prev_error_;
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if(setpoint == 0 && error == 0)
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{
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integral_ = 0;
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derivative_ = 0;
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}
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pid = (kp_ * error) + (ki_ * integral_) + (kd_ * derivative_);
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prev_error_ = error;
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return constrain(pid, min_val_, max_val_);
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}
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void PID::updateConstants(float kp, float ki, float kd)
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{
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kp_ = kp;
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ki_ = ki;
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kd_ = kd;
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}
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