99 lines
2.7 KiB
C
99 lines
2.7 KiB
C
|
/*----------------------------------------------------------------------------------------------------
|
|||
|
|
#
|
|||
|
|
# Copyright (c) 2022 Yuankang Liang(XerolySkinner)
|
|||
|
|
#
|
|||
|
|
# <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD>ṩ,<2C><><EFBFBD>κ<EFBFBD><CEBA><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ʾ
|
|||
|
|
# <09><><EFBFBD>κ<EFBFBD><CEBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>߶<EFBFBD><DFB6><EFBFBD><EFBFBD>е<EFBFBD><D0B5>κ<EFBFBD><CEBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⳥<EFBFBD><E2B3A5><EFBFBD><EFBFBD>
|
|||
|
|
#
|
|||
|
|
# ʹ<>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
|
|||
|
|
# 1. <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ,<2C>㲻<EFBFBD><E3B2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>.
|
|||
|
|
# 2. <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κ<EFBFBD>Ŀ<EFBFBD><C4BF>,ǰ<><C7B0><EFBFBD>ǰ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
# <09><><EFBFBD>Ұ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>.
|
|||
|
|
# 3. <09><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>,<2C><><EFBFBD><EFBFBD>,<2C><EFBFBD>,<2C>ַ<EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD>۱<EFBFBD><DBB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
# 4. <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD>Ʒ<EFBFBD><C6B7>ʹ<EFBFBD><CAB9>,<2C><>Ʒ<EFBFBD>ĵ<EFBFBD><C4B5>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵ĵ<CDB5><C4B5><EFBFBD><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
# 5. <09><>֪ͨ<CDA8><D6AA><EFBFBD>ô<EFBFBD><C3B4>κ<EFBFBD><CEBA><EFBFBD>Դɾ<D4B4><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
#
|
|||
|
|
# Yuankang Liang(XerolySkinner)
|
|||
|
|
# E-mail:zabbcccbbaz@163.com
|
|||
|
|
# QQ:2715099320
|
|||
|
|
# Mobile Phone:13005636215
|
|||
|
|
#
|
|||
|
|
# All rights reserved.
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @file bsp_PID.h
|
|||
|
|
* @brief ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>PID<EFBFBD>㷨
|
|||
|
|
* @mainpage <EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>Ϣ
|
|||
|
|
* @author Yuankang Liang(XerolySkinner)
|
|||
|
|
* @email zabbcccbbaz@163.com
|
|||
|
|
* @version V1.0.0
|
|||
|
|
* @date 2022-11-09 03:12
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
#pragma once
|
|||
|
|
#include "varint.h"
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
//----------------------------------------------------------------------------------------------------
|
|||
|
|
// <09><>Ŀ
|
|||
|
|
/**
|
|||
|
|
* @brief λ<EFBFBD>÷<EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PID<EFBFBD>㷨
|
|||
|
|
*/
|
|||
|
|
class bsp_Position_PID{
|
|||
|
|
public:
|
|||
|
|
bsp_Position_PID(void);
|
|||
|
|
bsp_Position_PID(
|
|||
|
|
float Kp, float Ki, float Kd, float target,
|
|||
|
|
float result_H, float result_L);
|
|||
|
|
~bsp_Position_PID(void);
|
|||
|
|
public:
|
|||
|
|
float PID(float temp);
|
|||
|
|
void clean(void);
|
|||
|
|
void set(float P, float I, float D);
|
|||
|
|
public:
|
|||
|
|
float target; ///< <20>趨ֵ
|
|||
|
|
float Kp; ///< <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
|
|||
|
|
float Kd; ///< <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
|
|||
|
|
float Ki; ///< <><CEA2>ϵ<EFBFBD><CFB5>
|
|||
|
|
float result; ///< <20><><EFBFBD><EFBFBD>ֵ
|
|||
|
|
private:
|
|||
|
|
float integral; ///< <20><><EFBFBD><EFBFBD>ֵ
|
|||
|
|
float lasterror; ///< ǰһ<C7B0><D2BB>ƫ<EFBFBD><C6AB>
|
|||
|
|
|
|||
|
|
float result_H; ///< <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|||
|
|
float result_L; ///< <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|||
|
|
};
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
//----------------------------------------------------------------------------------------------------
|
|||
|
|
// <09><>Ŀ
|
|||
|
|
/**
|
|||
|
|
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PID<EFBFBD>㷨
|
|||
|
|
*/
|
|||
|
|
class bsp_Increment_PID {
|
|||
|
|
public:
|
|||
|
|
bsp_Increment_PID(void);
|
|||
|
|
bsp_Increment_PID(
|
|||
|
|
float Kp, float Ki, float Kd, float target,
|
|||
|
|
float result_H, float result_L);
|
|||
|
|
~bsp_Increment_PID(void);
|
|||
|
|
public:
|
|||
|
|
float PID(float temp);
|
|||
|
|
void clean(void);
|
|||
|
|
void set(float P, float I, float D);
|
|||
|
|
public:
|
|||
|
|
float target; ///< <20>趨ֵ
|
|||
|
|
float Kp; ///< <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
|
|||
|
|
float Kd; ///< <20><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
|
|||
|
|
float Ki; ///< <><CEA2>ϵ<EFBFBD><CFB5>
|
|||
|
|
float result; ///< <20><><EFBFBD><EFBFBD>ֵ
|
|||
|
|
private:
|
|||
|
|
float lasterror; ///< ǰһ<C7B0><D2BB>ƫ<EFBFBD><C6AB>
|
|||
|
|
float preerror; ///< ǰ<><C7B0><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>
|
|||
|
|
|
|||
|
|
float result_H; ///< <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|||
|
|
float result_L; ///< <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|||
|
|
};
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
#endif
|