Robotsystem from Robot Group Leipzig: pid.h Source File

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# pid.h

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    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 1.6.4.3  2006/02/07 15:51:56  martius
    00024  *   axis, setpower
    00025  *
    00026  *   Revision 1.6.4.2  2006/01/10 14:48:59  martius
    00027  *   indentation
    00028  *   #ifdef clausel
    00029  *
    00030  *   Revision 1.6.4.1  2005/12/20 17:53:42  martius
    00031  *   changed to Joints from joint.h
    00032  *   new servos for universal and hinge2
    00033  *
    00034  *   Revision 1.6  2005/11/09 14:08:48  martius
    00035  *   *** empty log message ***
    00036  *
    00037  *   Revision 1.5  2005/11/09 13:28:24  fhesse
    00038  *   GPL added
    00039  *                                                                *
    00040 ***************************************************************************/
    00041 #ifndef __PID_H
    00042 #define __PID_H
    00043
    00044 namespace lpzrobots {
    00045
    00046 class PID
    00047 {
    00048   //*********************attributes***************
    00049   //private:
    00050 public:
    00051
    00052   double position;
    00053   double lastposition;
    00054   double last2position;
    00055
    00056   double error;
    00057   double lasterror;
    00058
    00059   double targetposition;
    00060
    00061   double KP;
    00062   double KD;
    00063   double KI;
    00064   double alpha;
    00065
    00066   double P;
    00067   double D;
    00068   double I;
    00069
    00070   double force;
    00071
    00072   //*********************methods******************
    00073 public :
    00074   /// KP is used as a general koefficient. KI and KD can be tuned without dependence of KP
    00075   PID ( double KP = 100 , double KI = 2.0 , double KD = 0.3 );
    00076
    00077   void setKP(double KP);
    00078
    00079   void setTargetPosition ( double newpos );
    00080
    00081   double getTargetPosition ();
    00082
    00083   double step ( double newsensorval );
    00084   double stepWithD ( double newsensorval, double derivative );
    00085 };
    00086
    00087 }
    00088
    00089 #endif