Robot Simulator of the Robotics Group for Self-Organization of Control: pid.h Source File

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# pid.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: pid.h,v $
    00023  *   Revision 1.12  2009/08/12 10:26:47  der
    00024  *   tau instead of alpha
    00025  *
    00026  *   Revision 1.11  2009/05/11 15:43:22  martius
    00027  *   new velocity controlling servo motors
    00028  *
    00029  *   Revision 1.10  2007/07/03 13:01:41  martius
    00030  *   new pid formulas, with stepsize
    00031  *   we use clipped sum for integral term
    00032  *   and clipped derivative value
    00033  *
    00034  *   Revision 1.9  2007/04/03 16:27:50  der
    00035  *   no stepD anymore
    00036  *
    00037  *   Revision 1.8  2007/01/26 12:04:15  martius
    00038  *   servos combinied into OneAxisServo
    00039  *
    00040  *   Revision 1.7  2006/07/14 12:23:32  martius
    00041  *   selforg becomes HEAD
    00042  *
    00043  *   Revision 1.6.4.3  2006/02/07 15:51:56  martius
    00044  *   axis, setpower
    00045  *
    00046  *   Revision 1.6.4.2  2006/01/10 14:48:59  martius
    00047  *   indentation
    00048  *   #ifdef clausel
    00049  *
    00050  *   Revision 1.6.4.1  2005/12/20 17:53:42  martius
    00051  *   changed to Joints from joint.h
    00052  *   new servos for universal and hinge2
    00053  *
    00054  *   Revision 1.6  2005/11/09 14:08:48  martius
    00055  *   *** empty log message ***
    00056  *
    00057  *   Revision 1.5  2005/11/09 13:28:24  fhesse
    00058  *   GPL added
    00059  *                                                                *
    00060  ***************************************************************************/
    00061 #ifndef __PID_H
    00062 #define __PID_H
    00063
    00064 namespace lpzrobots {
    00065
    00066   class PID
    00067   {
    00068     //*********************attributes***************
    00069     //private:
    00070   public:
    00071
    00072     double position;
    00073     double lastposition;
    00074     double last2position;
    00075
    00076     double error;
    00077     double lasterror;
    00078     double derivative;
    00079     double targetposition;
    00080
    00081     double KP;
    00082     double KI;
    00083     double KD;
    00084     double tau;
    00085
    00086     double P;
    00087     double D;
    00088     double I;
    00089
    00090     double force;
    00091     double lasttime;  // last update time (to calc stepsize)
    00092
    00093     //*********************methods******************
    00094   public :
    00095     /// KP is used as a general koefficient. KI and KD can be tuned without dependence of KP
    00096     PID ( double KP = 100 , double KI = 2.0 , double KD = 0.3 );
    00097
    00098     void setKP(double KP);
    00099
    00100     void setTargetPosition ( double newpos );
    00101
    00102     double getTargetPosition ();
    00103
    00104     double step ( double newsensorval, double time);
    00105     double stepNoCutoff ( double newsensorval, double time);
    00106   };
    00107
    00108 }
    00109
    00110 #endif