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40 lines
925 B
40 lines
925 B
/* |
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* pid.h |
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* |
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* Created on: May 29, 2012 |
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* Author: thomasgubler |
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*/ |
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#ifndef PID_H_ |
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#define PID_H_ |
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#include <stdint.h> |
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/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error |
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* val_dot in pid_calculate() will be ignored */ |
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#define PID_MODE_DERIVATIV_CALC 0 |
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/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ |
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#define PID_MODE_DERIVATIV_SET 1 |
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typedef struct { |
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float kp; |
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float ki; |
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float kd; |
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float intmax; |
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float sp; |
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float integral; |
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float error_previous; |
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uint8_t mode; |
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uint8_t plot_i; |
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uint8_t count; |
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uint8_t saturated; |
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} PID_t; |
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void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i); |
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void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax); |
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//void pid_set(PID_t *pid, float sp); |
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float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); |
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#endif /* PID_H_ */
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