Revision 1:8100a4a465b0, committed 2017-11-08

Comitter:

Joshua_Cheung

Date:

Wed Nov 08 02:59:47 2017 +0000

Parent:

0:5c2ad81551aa

Child:

2:61efaab47e47

Commit message:

PID control code;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_control.cpp	Wed Nov 08 02:59:47 2017 +0000
@@ -0,0 +1,32 @@
+
+int P_controller(int error) {
+    int correction = Kp*error;
+    return correction;
+}
+
+int I_Controller(int error) {
+    integrator += error;
+    inte correction = Ki*integrator;
+    integrator /= decayFactor;
+    
+    return correction;
+}
+
+int D_Controller(int error) {
+    int dError = error - prevError;
+    int dt = time.read_us();
+    timer.reset();
+    prevError = error;
+    int correction = Kd*dError/dt;
+    return correction;
+}
+
+Ticker systicker;
+//speed = speed + P_Controller(error) + I_Controller(error) + D_Controller(error);
+void systick() {
+     
+}
+
+int main() {
+    Systicker.attach_us(&systick, 1000);
+}
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