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Synchronisation #3

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Synchronisation #3

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e151372
Allow synchronisation of two pids
zhivko Aug 8, 2018
c5b7c17
Update MiniPID.h
zhivko Aug 8, 2018
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18 changes: 17 additions & 1 deletion MiniPID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,11 +230,22 @@ double MiniPID::getOutput(double actual, double setpoint){
Ioutput=I*errorSum;
if(maxIOutput!=0){
Ioutput=clamp(Ioutput,-maxIOutput,maxIOutput);
}
}

//And, finally, we can just add the terms up
output=Foutput + Poutput + Ioutput + Doutput;

// To synchronize two motors we are using this->positionDiff
// if this->positionDiff is positive this means we need to reduce output and vice versa
// if output is negative we need to add
//output = output + (sgn(output) * -1.0 * this->positionDiff * maxOutput*0.05);

float posOutputFilter = 0.35;
double POSOutput = clamp(this->positionDiff, -5.0, 5.0) * maxOutput*0.01;
double POSOutputFiltered=POSOutput*posOutputFilter+POSOutput*(1-posOutputFilter);
output = output - POSOutputFiltered;


//Figure out what we're doing with the error.
if(minOutput!=maxOutput && !bounded(output, minOutput,maxOutput) ){
errorSum=error;
Expand Down Expand Up @@ -370,3 +381,8 @@ void MiniPID::checkSigns(){
if(F<0) F*=-1;
}
}

void MiniPID::setPositionDiff(double _positionDiff)
{
this->positionDiff = _positionDiff;
}
8 changes: 8 additions & 0 deletions MiniPID.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,10 @@
#ifndef MINIPID_H
#define MINIPID_H

template <typename T> int sgn(T val) {
return (T(0) < val) - (val < T(0));
}

class MiniPID{
public:
MiniPID(double, double, double);
Expand All @@ -20,10 +24,12 @@ class MiniPID{
void setOutputRampRate(double);
void setSetpointRange(double);
void setOutputFilter(double);
void setPositionDiff(double);
double getOutput();
double getOutput(double);
double getOutput(double, double);


private:
double clamp(double, double, double);
bool bounded(double, double, double);
Expand All @@ -38,6 +44,8 @@ class MiniPID{
double maxError;
double errorSum;

double positionDiff;

double maxOutput;
double minOutput;

Expand Down