Filters Kalman, Vision or PID - the boat is sailing in a straight line

drowning_ophelia · September 27, 2021, 7:26pm

Michael-Brodsky/pg/blob/main/src/utilities/PIDController.h

/*
 *	This file defines a proportional�integral�derivative (PID) controller 
 *	class.
 *
 *	***************************************************************************
 *
 *	File: PIDController.h
 *	Date: September 26, 2021
 *	Version: 1.0
 *	Author: Michael Brodsky
 *	Email: mbrodskiis@gmail.com
 *	Copyright (c) 2012-2022 Michael Brodsky
 *
 *	***************************************************************************
 *
 *  This file is part of "Pretty Good" (Pg). "Pg" is free software:
 *	you can redistribute it and/or modify it under the terms of the
 *	GNU General Public License as published by the Free Software Foundation,
 *	either version 3 of the License, or (at your option) any later version.
 *

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github.com

Michael-Brodsky/pg/blob/main/examples/test_pid/test_pid.ino

#include <pg.h>
#include <numeric> // std::abs()
#include <utilities/PIDController.h>

using namespace pg;
using PID = PIDController<>; // Alias for PIDController<float>
using value_type = PID::value_type; // Alias for float
using input_type = PID::input_type; // Alias for (float *)(void)
using output_type = PID::output_type; // Alias for (void *)(float)

// Process variable would normally be stored externally by the machinery being 
// controlled and accessed by a function that reads/writes to an i/o port.
value_type pv = 0.0; 

// Function that returns the current process variable.
value_type get_pv()
{
  return pv; // Usually this would read a sensor connected to one of the GPIO inputs.
}

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Everything is implemented using modern object-oriented methodologies and requires a C++ Standard Library (I wrote one of those too). Note PID design & implementation require knowledge of Control Theory and Engineering, and is not a "hack". A good intro can be viewed here: PID controller - Wikipedia. Cheers!!

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Filters Kalman, Vision or PID - the boat is sailing in a straight line

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