private/hsb
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added Interlock

Browse Source 
Fixed PID regulation functionality

git-svn-id: https://svn.vbchaos.nl/svn/hsb/trunk@250 05563f52-14a8-4384-a975-3d1654cca0fa
This commit is contained in:
mmi
2017-10-12 07:16:50 +00:00
parent 3df93a80d7
commit 54b6afe5a3
19 changed files with 504 additions and 261 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
S - Software/0 - HSB MRTS Kathode-MCP/3 - Implementation/0 - Code/HAL/src/PID.c
View File

@@ -89,20 +89,18 @@ ErrorStatus PID_construct(struct Pid* self, int Kp, int Ki, int Kd, int iMin, in
}
int PID_calculate(struct Pid* self, int input, int error)
int PID_calculate(struct Pid* self, int error)
{
int returnValue = 0;
int dTerm;
int pTerm;
input *= PID_FIXED_POINT_FACTOR;
error *= PID_FIXED_POINT_FACTOR;
if (self->initialized)
{
// Calculate integral
self->iTerm += (self->Ki * error);
// Control integrator
if (self->iTerm > self->iMax)
{
@@ -114,14 +112,14 @@ int PID_calculate(struct Pid* self, int input, int error)
}
// Calculate differential
dTerm = (input - self->input_d1) * self->Kd;
dTerm = ((error - self->input_d1) * self->Kd);
// Calculate proportional
pTerm = self->Kp * error;
pTerm = (self->Kp * error);
LOGGER_WARNING(mainLog, "pTerm %d, Kp %d, error %d", pTerm, self->Kp, error);
returnValue = (self->iTerm + dTerm + pTerm) / PID_FIXED_POINT_FACTOR;
self->input_d1 = input;
self->input_d1 = error;
}
else
{