C++ PID::SetSampleTime方法代码示例

//---------- Functions -------------------------------
void init_pids ()
{
	right_mtr_pid.SetSampleTime(10);
	right_mtr_pid.SetMode(AUTOMATIC);
	//right_mtr_pid.SetOutputLimits(20,240);   //min, max
	left_mtr_pid.SetSampleTime(10);
	left_mtr_pid.SetMode(AUTOMATIC);
	//left_mtr_pid.SetOutputLimits(20,240);   //min, max

}

void setup() {
  // put your setup code here, to run once:
  pinMode(pinHeater, OUTPUT);
  pinMode(pinThermistor, INPUT);
  digitalWrite(pinHeater, 0);

  Serial.begin(57600);
  Serial.setTimeout(250); // Set timeout to 250ms

  // Restore calibration if already set.
  thermCalibrated = true;
  if(EEPROM.read(thermStepSetAddr) == 0) {
    unsigned char setPoint[4];
    for(int i = 0; i < 4; i++)
      setPoint[i] = EEPROM.read(thermStepAddr+i);
    thermStep = *((float*)setPoint);
  } else {
    thermCalibrated = false;
  }
  
  if(EEPROM.read(thermYIntSetAddr) == 0) {
    unsigned char setPoint[4];
    for(int i = 0; i < 4; i++)
      setPoint[i] = EEPROM.read(thermYIntAddr+i);
    thermYInt = *((float*)setPoint);
  } else {
    thermCalibrated = false;
  }

  pid.SetOutputLimits(0.0f, 1.0f);
  pid.SetSampleTime(250); // 250ms compute period
  pid.SetMode(MANUAL);
}

void control_loop() {
  pinMode( control_pin, OUTPUT );
  
  if(tuning && auto_tune.Runtime()) {
    finish_autotune();
  } else if(!tuning) {
    pid.SetMode(!config.paused);
    pid.SetTunings(profiles[config.driving].kp, profiles[config.driving].ki, profiles[config.driving].kd);
    pid.SetSampleTime(1000 * profiles[config.driving].sample_time);  // Update the control value once per second
    current_target_temp = profiles[config.driving].target_temp;
    pid.Compute();
  }
  
  if(last_power != power) {
    last_power = power;
    analogWrite(control_pin, power);
    Serial.print("Log\tpower\t");
    Serial.println((100.0 * ((float)power / 255.0)));
  }
}

void setup()
{
  Wire.begin(myAddress);
  Wire.onReceive(i2cReceive);
  Wire.onRequest(i2cRequest);

  pinMode(limit_switch_pin, INPUT); 

  mySerial.begin(9600); // Serial commuication to motor controller start.

  setpoint = 0.0;

  calibration(); // Running the calibration code on every start up

  input = encoderRead();

  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(-127, 127);
  myPID.SetSampleTime(20);
}

/* Calcule les pwm a appliquer pour un asservissement en vitesse en trapeze
 * <> value_pwm_left : la pwm a appliquer sur la roue gauche [-255,255]
 * <> value_pwm_right : la pwm a appliquer sur la roue droite [-255,255]
 * */
void speedControl(int* value_pwm_left, int* value_pwm_right){
	/* si le robot est en train de tourner, et qu'on lui donne une consigne de vitesse, il ne va pas partir droit
	 * solution = decomposer l'asservissement en vitesse en 2 :
	 * -> stopper le robot (les 2 vitesses = 0)
	 * -> lancer l'asservissement en vitesse
	 */

	static int start_time;

	static bool initDone = false;

	if(!initDone){
		start_time = 0;
		pwm = 0;
		currentSpeed = 0;
		consigne = 0;
		pid4SpeedControl.Reset();
		pid4SpeedControl.SetInputLimits(-20000,20000);
		pid4SpeedControl.SetOutputLimits(-255,255);
		pid4SpeedControl.SetSampleTime(DUREE_CYCLE);
		pid4SpeedControl.SetMode(AUTO);
		initDone = true;
	}

	/* Gestion de l'arret d'urgence */
	if(current_goal.isCanceled){
		initDone = false;
		current_goal.isReached = true;
		current_goal.isCanceled = false;
		/* et juste pour etre sur */
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	/* Gestion de la pause */
	if(current_goal.isPaused){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	if(current_goal.phase == PHASE_1){ //phase d'acceleration
		consigne = current_goal.speed;
		currentSpeed = robot_state.speed;
		if(abs(consigne-currentSpeed) < 1000){ /*si l'erreur est inferieur a 1, on concidere la consigne atteinte*/
			current_goal.phase = PHASE_2;
			start_time = millis();
		}
	}
	else if(current_goal.phase == PHASE_2){ //phase de regime permanent
		consigne = current_goal.speed;
		currentSpeed = robot_state.speed;
		if(millis()-start_time > current_goal.period){ /* fin de regime permanent */
			current_goal.phase = PHASE_3;
		}
	}
	else if(current_goal.phase == PHASE_3){ //phase de decceleration
		consigne = 0;
		currentSpeed = robot_state.speed;
		if(abs(robot_state.speed)<1000){
			current_goal.phase = PHASE_4;
		}
	}

	pid4SpeedControl.Compute();

	if(current_goal.phase == PHASE_4){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		current_goal.isReached = true;
		initDone = false;
	}else{
		(*value_pwm_right) = pwm;
		(*value_pwm_left) = pwm;
	}
}

/* Calcule les pwm a appliquer pour un asservissement en position
 * <> value_pwm_left : la pwm a appliquer sur la roue gauche [-255,255]
 * <> value_pwm_right : la pwm a appliquer sur la roue droite [-255,255]
 * */
void positionControl(int* value_pwm_left, int* value_pwm_right){

	static bool initDone = false;

	if(!initDone){
		output4Delta = 0;
		output4Alpha = 0;
		currentDelta = .0;
		currentAlpha = .0;
		consigneDelta = .0;
		consigneAlpha = .0;
		pid4DeltaControl.Reset();
		pid4DeltaControl.SetInputLimits(-TABLE_DISTANCE_MAX_MM/ENC_TICKS_TO_MM,TABLE_DISTANCE_MAX_MM/ENC_TICKS_TO_MM);
		pid4DeltaControl.SetSampleTime(DUREE_CYCLE);
		pid4DeltaControl.SetOutputLimits(-current_goal.speed,current_goal.speed); /*composante liee a la vitesse lineaire*/
		pid4DeltaControl.SetMode(AUTO);
		pid4AlphaControl.Reset();
		pid4AlphaControl.SetSampleTime(DUREE_CYCLE);
		pid4AlphaControl.SetInputLimits(-M_PI,M_PI);
		pid4AlphaControl.SetOutputLimits(-255,255); /*composante lie a la vitesse de rotation*/
		pid4AlphaControl.SetMode(AUTO);
		initDone = true;
	}

	/* Gestion de l'arret d'urgence */
	if(current_goal.isCanceled){
		initDone = false;
		current_goal.isReached = true;
		current_goal.isCanceled = false;
		/* et juste pour etre sur */
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	/* Gestion de la pause */
	if(current_goal.isPaused){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}


	/*calcul de l'angle alpha a combler avant d'etre aligne avec le point cible
	 * borne = [-PI PI] */
	double angularCoeff = atan2(current_goal.y-robot_state.y,current_goal.x-robot_state.x); /*arctan(y/x) -> [-PI,PI]*/
	currentAlpha = moduloPI(angularCoeff - robot_state.angle); /* il faut un modulo ici, c'est sur !


	/* En fait, le sens est donne par l'ecart entre le coeff angulaire et l'angle courant du robot.
	 * Si cet angle est inferieur a PI/2 en valeur absolue, le robot avance en marche avant (il avance quoi)
	 * Si cet angle est superieur a PI/2 en valeur absolue, le robot recule en marche arriere (= il recule)
	 */
	int sens = 1;
	if(abs(currentAlpha) > M_PI/2){/* c'est a dire qu'on a meilleur temps de partir en marche arriere */
		sens = -1;
		currentAlpha = moduloPI(M_PI + angularCoeff - robot_state.angle);
	}
	
	currentAlpha = -currentAlpha;


 	double dx = current_goal.x-robot_state.x;
	double dy = current_goal.y-robot_state.y;
	currentDelta = -sens * sqrt(dx*dx+dy*dy); // - parce que l'ecart doit etre negatif pour partir en avant

	/*
	Serial.print("coeff:");
	Serial.print(angularCoeff);
	Serial.print("  angle:");
	Serial.print(robot_state.angle);
	Serial.print("  alpha:");
	Serial.print(currentAlpha);
	Serial.print("  delta:");
	Serial.print(currentDelta);
	Serial.print("  x:");
	Serial.print(current_goal.x);
	Serial.print("  y:");
	Serial.println(current_goal.y);
	*/
	
	
	
	/* on limite la vitesse lineaire quand on s'approche du but */
	if (abs(currentDelta)<250){
		pid4DeltaControl.SetOutputLimits(-min(50,current_goal.speed),min(50,current_goal.speed)); // composante liee a la vitesse lineaire
		pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
	}
	else if (abs(currentDelta)<500){
		pid4DeltaControl.SetOutputLimits(-min(60,current_goal.speed),min(60,current_goal.speed)); // composante liee a la vitesse lineaire
		pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
	}
	else if (abs(currentDelta)<750){
		pid4DeltaControl.SetOutputLimits(-min(80,current_goal.speed),min(80,current_goal.speed)); // composante liee a la vitesse lineaire
		pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
	}
//.........这里部分代码省略.........

/* Calcule les pwm a appliquer pour un asservissement en angle
 * <> value_pwm_left : la pwm a appliquer sur la roue gauche [-255,255]
 * <> value_pwm_right : la pwm a appliquer sur la roue droite [-255,255]
 * */
void angleControl(int* value_pwm_left, int* value_pwm_right){

	static bool initDone = false;

	if(!initDone){
		pwm = 0;
		currentEcart = .0;
		consigne = .0;
		pid4AngleControl.Reset();
		pid4AngleControl.SetInputLimits(-M_PI,M_PI);
		pid4AngleControl.SetOutputLimits(-current_goal.speed,current_goal.speed);
		pid4AngleControl.SetSampleTime(DUREE_CYCLE);
		pid4AngleControl.SetMode(AUTO);
		initDone = true;
	}

	/* Gestion de l'arret d'urgence */
	if(current_goal.isCanceled){
		initDone = false;
		current_goal.isReached = true;
		current_goal.isCanceled = false;
		/* et juste pour etre sur */
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	/* Gestion de la pause */
	if(current_goal.isPaused){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	/*l'angle consigne doit etre comprise entre ]-PI, PI]

	En fait pour simplifier, l'entree du PID sera l'ecart entre le l'angle courant et l'angle cible (consigne - angle courant)
	la consigne (SetPoint) du PID sera 0
	la sortie du PID sera le double pwm
	*/
	currentEcart = -moduloPI(current_goal.angle - robot_state.angle);

	/*
	Serial.print("goal: ");
	Serial.print(current_goal.angle);
	Serial.print(" current: ");
	Serial.print(robot_state.angle);
	Serial.print(" ecart: ");
	Serial.println(currentEcart);
	*/

	if(abs(currentEcart) < 3.0f*M_PI/360.0f) /*si l'erreur est inferieur a 3deg, on concidere la consigne atteinte*/
		current_goal.phase = PHASE_2;
	else
		current_goal.phase = PHASE_1;

	pid4AngleControl.Compute();

	if(current_goal.phase == PHASE_2){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
	}
	else{
		(*value_pwm_right) = pwm;
		(*value_pwm_left) = -pwm;
	}

	if(current_goal.phase == PHASE_2){
		if(current_goal.id != -1 && !current_goal.isMessageSent){
			//le message d'arrivee n'a pas encore ete envoye a l'intelligence
			//envoi du message
			sendMessage(current_goal.id,2);
			current_goal.isMessageSent = true;
		}
		if(!fifoIsEmpty()){ //on passe a la tache suivante
			/*condition d'arret = si on a atteint le but et qu'un nouveau but attends dans la fifo*/
			current_goal.isReached = true;
			initDone = false;
		}
	}
}

/* Calcule les pwm a appliquer pour un asservissement en position
 * <> value_pwm_left : la pwm a appliquer sur la roue gauche [-255,255]
 * <> value_pwm_right : la pwm a appliquer sur la roue droite [-255,255]
 * */
void positionControl(int* value_pwm_left, int* value_pwm_right){

	static bool initDone = false;

	if(!initDone){
		output4Delta = 0;
		output4Alpha = 0;
		currentDelta = .0;
		currentAlpha = .0;
		consigneDelta = .0;
		consigneAlpha = .0;
		pid4DeltaControl.Reset();
		pid4DeltaControl.SetInputLimits(-TABLE_DISTANCE_MAX_MM/ENC_TICKS_TO_MM,TABLE_DISTANCE_MAX_MM/ENC_TICKS_TO_MM);
		pid4DeltaControl.SetSampleTime(DUREE_CYCLE);
		pid4DeltaControl.SetOutputLimits(-current_goal.speed,current_goal.speed); /*composante liee a la vitesse lineaire*/
		pid4DeltaControl.SetMode(AUTO);
		pid4AlphaControl.Reset();
		pid4AlphaControl.SetSampleTime(DUREE_CYCLE);
		pid4AlphaControl.SetInputLimits(-M_PI,M_PI);
		pid4AlphaControl.SetOutputLimits(-255,255); /*composante lie a la vitesse de rotation*/
		pid4AlphaControl.SetMode(AUTO);
		initDone = true;
	}

	/* Gestion de l'arret d'urgence */
	if(current_goal.isCanceled){
		initDone = false;
		current_goal.isReached = true;
		current_goal.isCanceled = false;
		/* et juste pour etre sur */
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}

	/* Gestion de la pause */
	if(current_goal.isPaused){
		(*value_pwm_right) = 0;
		(*value_pwm_left) = 0;
		return;
	}


	/*calcul de l'angle alpha a combler avant d'etre aligne avec le point cible
	 * borne = [-PI PI] */
	double angularCoeff = atan2(current_goal.y-robot_state.y,current_goal.x-robot_state.x); /*arctan(y/x) -> [-PI,PI]*/
	currentAlpha = moduloPI(angularCoeff - robot_state.angle); /* il faut un modulo ici, c'est sur !


	/* En fait, le sens est donne par l'ecart entre le coeff angulaire et l'angle courant du robot.
	 * Si cet angle est inferieur a PI/2 en valeur absolue, le robot avance en marche avant (il avance quoi)
	 * Si cet angle est superieur a PI/2 en valeur absolue, le robot recule en marche arriere (= il recule)
	 */
	int sens = 1;
	if(current_goal.phase != PHASE_1 and abs(currentAlpha) > M_PI/2){/* c'est a dire qu'on a meilleur temps de partir en marche arriere */
		sens = -1;
		currentAlpha = moduloPI(M_PI + angularCoeff - robot_state.angle);
	}
	
	currentAlpha = -currentAlpha;


 	double dx = current_goal.x-robot_state.x;
	double dy = current_goal.y-robot_state.y;
	currentDelta = -sens * sqrt(dx*dx+dy*dy); // - parce que l'ecart doit etre negatif pour partir en avant
	
	

	switch(current_goal.phase)
	{
		case PHASE_1:
			if(abs(currentDelta)<1500) /*si l'ecart n'est plus que de 6 mm, on considere la consigne comme atteinte*/
			{
				current_goal.phase = PHASE_DECEL;
			}
		break;
		
		case PHASE_DECEL:
			if (fifoIsEmpty())
			{
				/* on limite la vitesse lineaire quand on s'approche du but */
				if (abs(currentDelta)<250){
					pid4DeltaControl.SetOutputLimits(-min(50,current_goal.speed),min(50,current_goal.speed)); // composante liee a la vitesse lineaire
					pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
				}
				else if (abs(currentDelta)<500){
					pid4DeltaControl.SetOutputLimits(-min(60,current_goal.speed),min(60,current_goal.speed)); // composante liee a la vitesse lineaire
					pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
				}
				else if (abs(currentDelta)<750){
					pid4DeltaControl.SetOutputLimits(-min(80,current_goal.speed),min(80,current_goal.speed)); // composante liee a la vitesse lineaire
					pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
				}
				else if (abs(currentDelta)<1000){
					pid4DeltaControl.SetOutputLimits(-min(100,current_goal.speed),min(100,current_goal.speed)); // composante liee a la vitesse lineaire
					pid4AlphaControl.SetOutputLimits(-150,150); // composante liee a la vitesse de rotation
//.........这里部分代码省略.........

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;
}

	virtual void run() {
		int16_t accData[3];
		int16_t gyrData[3];

		CTimer tm(TIMER0);
		tm.second(DT);
		tm.enable();

		myPID.SetMode(AUTOMATIC);
		myPID.SetOutputLimits(-100.0, 100.0);
		myPID.SetSampleTime(PID_SAMPLE_RATE);

		m_roll = 0.0f;
		m_pitch = 0.0f;

		double output;

#if USE_AUTO_TUNING
		double sp_input, sp_output, sp_setpoint, lastRoll;
		PID speedPID(&sp_input, &sp_output, &sp_setpoint, 35, 1, 2, DIRECT);
		speedPID.SetMode(AUTOMATIC);
		speedPID.SetOutputLimits(-config.roll_offset, config.roll_offset);
		speedPID.SetSampleTime(PID_SAMPLE_RATE);
		sp_input = 0;
		sp_setpoint = 0;
		lastRoll = 0;
#endif
		//
		// loop
		//
		while (isAlive()) {

			//
			// wait timer interrupt (DT)
			//
			if (tm.wait()) {
				//
				// read sensors
				//
				m_mxMPU.lock();
				m_mpu->getMotion6(&accData[0], &accData[1], &accData[2],
						&gyrData[0], &gyrData[1], &gyrData[2]);
				m_mxMPU.unlock();

				//
				// filter
				//
				ComplementaryFilter(accData, gyrData, &m_pitch, &m_roll);


#if USE_AUTO_TUNING
				sp_input = (lastRoll - m_roll) / PID_SAMPLE_RATE;	// roll speed
				lastRoll = m_roll;
				speedPID.Compute();
				m_setpoint = -sp_output;							// tune output angle
#else
				m_roll -= config.roll_offset;
#endif
				m_input = m_roll;
				myPID.Compute();

				if ( m_output > config.skip_interval ) {
					LEDs[1] = LED_ON;
					LEDs[2] = LED_OFF;
					output = map(m_output, config.skip_interval, 100, config.pwm_min, config.pwm_max);

					m_left->direct(DIR_FORWARD);
					m_right->direct(DIR_FORWARD);

				} else if ( m_output<-config.skip_interval ) {
					LEDs[1] = LED_OFF;
					LEDs[2] = LED_ON;
					output = map(m_output, -config.skip_interval, -100, config.pwm_min, config.pwm_max);

					m_left->direct(DIR_REVERSE);
					m_right->direct(DIR_REVERSE);
				} else {
					LEDs[1] = LED_OFF;
					LEDs[2] = LED_OFF;
					output = 0;
					m_left->direct(DIR_STOP);
					m_right->direct(DIR_STOP);
				}

				//
				// auto power off when fell.
				//
				if ( abs(m_roll)>65 ) {
					output = 0;
				}

				//
				// output
				//
				m_left->dutyCycle(output * config.left_power);
				m_right->dutyCycle(output * config.right_power);

			}
		}