本文整理汇总了C++中PID::SetControllerDirection方法的典型用法代码示例。如果您正苦于以下问题：C++ PID::SetControllerDirection方法的具体用法？C++ PID::SetControllerDirection怎么用？C++ PID::SetControllerDirection使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类PID的用法示例。
在下文中一共展示了PID::SetControllerDirection方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char **argv) {
START_EASYLOGGINGPP(argc, argv);
// Load configuration from file
el::Configurations conf("/home/debian/hackerboat/embedded_software/unified/setup/log.conf");
// Actually reconfigure all loggers instead
el::Loggers::reconfigureAllLoggers(conf);
BoatState *me = new BoatState();
me->rudder = new Servo();
me->throttle = new Throttle();
me->orient = new OrientationInput(SensorOrientation::SENSOR_AXIS_Z_UP);
double targetHeading = 0;
double in = 0, out = 0, setpoint = 0;
Pin enable(Conf::get()->servoEnbPort(), Conf::get()->servoEnbPin(), true, true);
PID *helm = new PID(&in, &out, &setpoint, 0, 0, 0, 0);
helm->SetMode(AUTOMATIC);
helm->SetControllerDirection(Conf::get()->rudderDir());
helm->SetSampleTime(Conf::get()->rudderPeriod());
helm->SetOutputLimits(Conf::get()->rudderMin(),
Conf::get()->rudderMax());
helm->SetTunings(10,0,0);
if (!me->rudder->attach(Conf::get()->rudderPort(), Conf::get()->rudderPin())) {
std::cout << "Rudder failed to attach 1" << std::endl;
return -1;
}
if (!me->rudder->isAttached()) {
std::cout << "Rudder failed to attach 2" << std::endl;
return -1;
}
if (me->orient->begin() && me->orient->isValid()) {
cout << "Initialization successful" << endl;
cout << "Oriented with Z axis up" << endl;
} else {
cout << "Initialization failed; exiting" << endl;
return -1;
}
for (int i = 0; i < 100; i++) {
double currentheading = me->orient->getOrientation()->makeTrue().heading;
if (isfinite(currentheading)) targetHeading += currentheading;
cout << ".";
std::this_thread::sleep_for(100ms);
}
cout << endl;
targetHeading = targetHeading/100;
cout << "Target heading is " << to_string(targetHeading) << " degrees true " << endl;
int count = 0;
for (;;) {
in = me->orient->getOrientation()->makeTrue().headingError(targetHeading);
count++;
LOG_EVERY_N(10, DEBUG) << "True Heading: " << me->orient->getOrientation()->makeTrue()
<< ", Target Course: " << targetHeading;
helm->Compute();
me->rudder->write(out);
LOG_EVERY_N(10, DEBUG) << "Rudder command: " << to_string(out);
std::this_thread::sleep_for(100ms);
if (count > 9) {
count = 0;
cout << "True Heading: " << me->orient->getOrientation()->makeTrue().heading
<< "\tTarget Course: " << targetHeading
<< "\tRudder command: " << to_string(out) << endl;
}
}
return 0;
}