From Wikipedia: "A PID controller calculates an 'error' value as the difference between a measured [Input] and a desired setpoint. The controller attempts to minimize the error by adjusting [an Output]." So, you tell the PID what to measure (the "Input",) Where you want that measurement...
#ifndefPID_v1_h#definePID_v1_h#defineLIBRARY_VERSION 1.1.1classPID{public://Constants used in some of the functions below// 这里定义的两个变量分别指代两种工作模式:AUTOMATIC 对应 PID控制开启; MANUAL 对应PID控制关闭#defineAUTOMATIC 1#defineMANUAL 0// 这里定义两个变量分别指代控制量与被控量方...
A simple PID controller library for Arduino Warning, this library hasn't been properly tested yet. Bugs may occur Usage #include <PIDController.h> PIDController pid; First include the library. Then create an instance of the class. #include <PIDController.h> PIDController pid; void setup ()...
The best tuning parameters (Kp, Ki, Kd,) for a PID controller are going to depend on what that controller is driving. The best tunings for a toaster oven are going to be different than the best tunings for a sous-vide cooker. Autotuners attempt to figure out the nature of what the ...
PID算法在PIDController中的SimpleFOClibrary中实现。通过指定参数实例化类: PIDController(floatP,floatI,floatD,floatramp,floatlimit); 该类只有一个函数: // PID控制器的功能floatPIDController::operator()(floaterror){// 计算最新调用的时间unsignedlongtimestamp_now=_micros();floatTs=(timestamp_now-timest...
the PID instance pid.setpoint(150); // The "goal" the PID controller tries to "reach"...
How to Tune a PID: Seehere How to Use the Library: First import the library, instantiate an ArduPID class, and create 6 doubles: Setpoint Input Output P Gain I Gain D Gain #include"ArduPID.h"ArduPID myController;doublesetpoint =512;doubleinput;doubleoutput;doublep =1;doublei =0;double...
要成功实现代码安装,需要四个外部库文件来让Arduino自平衡机器人正常工作。PID库的引入使得计算P、I和D值变得相对容易。LMotorController库文件用于L298N模块驱动两个电机,I2Cdev库和MPU6050_6_Axis_MotionApps20库用于从MPU6050读取数据。你可以在这里下载包含这些库文件的代码。
PID::PID(double*Input,double*Output,double*Setpoint, doubleKp,doubleKi,doubleKd,intPOn,intControllerDirection) { myOutput=Output; myInput=Input; mySetpoint=Setpoint; inAuto=false; PID::SetOutputLimits(0,255);//default output limit corresponds to ...
();// 把电机连接到驱动器上motor.linkDriver(&driver);// 设置要使用的控制回路类型motor.controller=MotionControlType::velocity;// 速度PI控制器参数// 默认 P=0.5 I = 10motor.PID_velocity.P=0.2;motor.PID_velocity.I=20;// 默认电压电源motor.voltage_limit=6;// 速度低通滤波// 默认的5ms -...