Fabien Lepoutre / Mbed 2 deprecated PID_2

Dependencies:   mbed

main.cpp@0:e837a6fef44b, 2012-02-27 (annotated)

Committer:
fabienlepoutre
Date:
Mon Feb 27 16:22:19 2012 +0000
Revision:
0:e837a6fef44b
Test du 27 Fevrier

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabienlepoutre 0:e837a6fef44b 1 #include "mbed.h"
fabienlepoutre 0:e837a6fef44b 2
fabienlepoutre 0:e837a6fef44b 3 DigitalOut myled(LED1);
fabienlepoutre 0:e837a6fef44b 4 AnalogIn entree(p20);
fabienlepoutre 0:e837a6fef44b 5 AnalogOut sortie(p18);
fabienlepoutre 0:e837a6fef44b 6
fabienlepoutre 0:e837a6fef44b 7 int main() {
fabienlepoutre 0:e837a6fef44b 8 float integral =0;
fabienlepoutre 0:e837a6fef44b 9 float previous_error =0;
fabienlepoutre 0:e837a6fef44b 10 float error =0;
fabienlepoutre 0:e837a6fef44b 11 float prev_sortie =0;
fabienlepoutre 0:e837a6fef44b 12 float Kp = 2.72, Ki=2.61, Kd=0;
fabienlepoutre 0:e837a6fef44b 13 int interval=2;
fabienlepoutre 0:e837a6fef44b 14 float derivative = 0;
fabienlepoutre 0:e837a6fef44b 15 float sortie_ns;
fabienlepoutre 0:e837a6fef44b 16 myled = 0;
fabienlepoutre 0:e837a6fef44b 17 /* printf("Entrer les parametres Kp : \r\n");
fabienlepoutre 0:e837a6fef44b 18 scanf("%f", &Kp);
fabienlepoutre 0:e837a6fef44b 19 printf("Ki : \r\n");
fabienlepoutre 0:e837a6fef44b 20 scanf("%f", &Ki);
fabienlepoutre 0:e837a6fef44b 21 printf("Kd: \r\n");
fabienlepoutre 0:e837a6fef44b 22 scanf("%f", &Kd);
fabienlepoutre 0:e837a6fef44b 23 printf("Periode d'echantillonnage (en ms) :\r\n");
fabienlepoutre 0:e837a6fef44b 24 scanf("%d", &interval);*/
fabienlepoutre 0:e837a6fef44b 25 printf("Debut du programme avec Ki = %f et Kp = %f \n\r", Ki, Kp);
fabienlepoutre 0:e837a6fef44b 26 float ana_test = entree.read()*3.3;
fabienlepoutre 0:e837a6fef44b 27 printf("p20 = %f \n\r", ana_test);
fabienlepoutre 0:e837a6fef44b 28 int i=0;
fabienlepoutre 0:e837a6fef44b 29 while(1){
fabienlepoutre 0:e837a6fef44b 30 // printf("In : \r\n");
fabienlepoutre 0:e837a6fef44b 31 // scanf("%f", &error);
fabienlepoutre 0:e837a6fef44b 32 /* while(i<20){
fabienlepoutre 0:e837a6fef44b 33 myled = 1;
fabienlepoutre 0:e837a6fef44b 34 error = error + entree.read();
fabienlepoutre 0:e837a6fef44b 35 i++;
fabienlepoutre 0:e837a6fef44b 36 }
fabienlepoutre 0:e837a6fef44b 37 i=0;
fabienlepoutre 0:e837a6fef44b 38 myled=0;
fabienlepoutre 0:e837a6fef44b 39 error = error/20.0;*/
fabienlepoutre 0:e837a6fef44b 40 error = entree.read();
fabienlepoutre 0:e837a6fef44b 41
fabienlepoutre 0:e837a6fef44b 42 integral = integral + (previous_error*interval);
fabienlepoutre 0:e837a6fef44b 43 derivative = (error - previous_error)/interval;
fabienlepoutre 0:e837a6fef44b 44 sortie_ns = prev_sortie + (Kp*error)-(Ki*previous_error)+(Kd*derivative);
fabienlepoutre 0:e837a6fef44b 45 if(sortie_ns >1) sortie_ns =1;
fabienlepoutre 0:e837a6fef44b 46 if(sortie_ns<0) sortie_ns=0;
fabienlepoutre 0:e837a6fef44b 47 sortie = sortie_ns;
fabienlepoutre 0:e837a6fef44b 48 prev_sortie = sortie_ns;;
fabienlepoutre 0:e837a6fef44b 49 previous_error = error;
fabienlepoutre 0:e837a6fef44b 50 wait_ms(interval);
fabienlepoutre 0:e837a6fef44b 51 }
fabienlepoutre 0:e837a6fef44b 52
fabienlepoutre 0:e837a6fef44b 53
fabienlepoutre 0:e837a6fef44b 54
fabienlepoutre 0:e837a6fef44b 55 }