aaron/discoverpixy
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Updated docu.

Browse Source
This commit is contained in:
Timo Lang
2015-06-08 11:04:50 +02:00
parent 86eb39b3a8
commit 42b6e3af36
202 changed files with 11953 additions and 976 deletions
Download Patch File Download Diff File Expand all files Collapse all files

194
pixy__control_8c_source.html Normal file
View File

@@ -0,0 +1,194 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.9.1"/>
<title>discoverpixy: common/app/pixy_control.c Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">discoverpixy
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.9.1 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main&#160;Page</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File&#160;List</span></a></li>
<li><a href="globals.html"><span>Globals</span></a></li>
</ul>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_bdd9a5d540de89e9fe90efdfc6973a4f.html">common</a></li><li class="navelem"><a class="el" href="dir_99a8943037ff3844556e6a5d529fec0c.html">app</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">pixy_control.c</div> </div>
</div><!--header-->
<div class="contents">
<a href="pixy__control_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/**************************************************************************************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">* Project: discoverpixy</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">* Website: https://github.com/t-moe/discoverpixy</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">* Authors: Aaron Schmocker, Timo Lang</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">* Institution: BFH Bern University of Applied Sciences</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">* File: common/app/pixy_control.c</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">* Version History:</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">* Date Autor Email SHA Changes</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">* 2015-06-02 aaron@duckpond.ch e018a75 Implemented basic pi and pid controller</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">* 2015-06-06 aaron@duckpond.ch 8c264c2 Comment refactoring, updated PID values</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">* 2015-06-06 aaron@duckpond.ch a04cda9 Refactured comments and implemented a bugfix for the PID controller</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">* 2015-06-07 aaron@duckpond.ch 802d3df Fixed pid controller and refactored code</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">* 2015-06-07 aaron@duckpond.ch 3d98ca9 Minor changes</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">* 2015-06-07 timolang@gmail.com c87220d Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">**************************************************************************************************************************************/</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment"> * pixy_control.c</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment"> * Notation</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment"> * --------</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="comment"> * x : Sollwert (Führgrösse)</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment"> * w : Istwert (Reglergrösse)</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment"> * esum : Integralteil</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment"> * e : Regelabweichung</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment"> * y : Stellgrösse</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#include&lt;<a class="code" href="pixy__control_8h.html">pixy_control.h</a>&gt;</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="preprocessor">#include&lt;stdint.h&gt;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="comment">// PID tuning factors</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe"> 37</a></span>&#160;<span class="preprocessor">#define REG_PID_KP (0.5f)</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249"> 38</a></span>&#160;<span class="preprocessor">#define REG_PID_KI (0.001f)</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231"> 39</a></span>&#160;<span class="preprocessor">#define REG_PID_KD (0.001f)</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644"> 40</a></span>&#160;<span class="preprocessor">#define REG_PID_TA (0.01f)</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="comment">// PID controller implementatoin for the y-axis</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="group__pixy__control.html#ga4b2080c6002ea758f49d748ecf8db28b"> 44</a></span>&#160;int16_t <a class="code" href="group__pixy__control.html#ga4b2080c6002ea758f49d748ecf8db28b">pixy_PID_Y</a>(int16_t x, int16_t w)</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">float</span> e = 0;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> esum = 0;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> eold = 0;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="keywordtype">float</span> y = 0;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; e = (float)(x - w); <span class="comment">// calculate the controller offset</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="comment">//----PID-control-------------------------------------------------------------------------</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; esum = esum + e; <span class="comment">// add e to the current sum</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; y += <a class="code" href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a> * e; <span class="comment">// add the proportional part to the output</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; y += <a class="code" href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a> * <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a> * esum; <span class="comment">// add the integral part to the output</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; y += <a class="code" href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a> * (e - eold) / <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a>; <span class="comment">// add the differential part to the output</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="comment">//----------------------------------------------------------------------------------------</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; eold = e; <span class="comment">// save the previous value</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keywordflow">return</span> (int16_t)y;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;}</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;<span class="comment">// PID controller implementation for the x-axis</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="group__pixy__control.html#gab3724cbb7b6c771af9ad87db9c0d3902"> 67</a></span>&#160;int16_t <a class="code" href="group__pixy__control.html#gab3724cbb7b6c771af9ad87db9c0d3902">pixy_PID_X</a>(int16_t x, int16_t w)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;{</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keywordtype">float</span> e = 0;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> esum = 0;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> eold = 0;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">float</span> y = 0;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; e = (float)(x - w); <span class="comment">// calculate the controller offset</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="comment">//----PID-control-------------------------------------------------------------------------</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; esum = esum + e; <span class="comment">// add e to the current sum</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; y += <a class="code" href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a> * e; <span class="comment">// add the proportional part to the output</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; y += <a class="code" href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a> * <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a> * esum; <span class="comment">// add the integral part to the output</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; y += <a class="code" href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a> * (e - eold) / <a class="code" href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a>; <span class="comment">// add the differential part to the output</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="comment">//----------------------------------------------------------------------------------------</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; eold = e; <span class="comment">// save the previous value</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keywordflow">return</span> (int16_t)y;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;}</div>
<div class="ttc" id="pixy__control_8c_html_a518bf70ad380fa7605e895f59ba08249"><div class="ttname"><a href="pixy__control_8c.html#a518bf70ad380fa7605e895f59ba08249">REG_PID_KI</a></div><div class="ttdeci">#define REG_PID_KI</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00038">pixy_control.c:38</a></div></div>
<div class="ttc" id="pixy__control_8c_html_aa229051d61aedca94d95afa01c6ab3fe"><div class="ttname"><a href="pixy__control_8c.html#aa229051d61aedca94d95afa01c6ab3fe">REG_PID_KP</a></div><div class="ttdeci">#define REG_PID_KP</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00037">pixy_control.c:37</a></div></div>
<div class="ttc" id="pixy__control_8c_html_ac490324cc61d8be6f8cd13076c0b5644"><div class="ttname"><a href="pixy__control_8c.html#ac490324cc61d8be6f8cd13076c0b5644">REG_PID_TA</a></div><div class="ttdeci">#define REG_PID_TA</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00040">pixy_control.c:40</a></div></div>
<div class="ttc" id="pixy__control_8h_html"><div class="ttname"><a href="pixy__control_8h.html">pixy_control.h</a></div></div>
<div class="ttc" id="group__pixy__control_html_gab3724cbb7b6c771af9ad87db9c0d3902"><div class="ttname"><a href="group__pixy__control.html#gab3724cbb7b6c771af9ad87db9c0d3902">pixy_PID_X</a></div><div class="ttdeci">int16_t pixy_PID_X(int16_t x, int16_t w)</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00067">pixy_control.c:67</a></div></div>
<div class="ttc" id="group__pixy__control_html_ga4b2080c6002ea758f49d748ecf8db28b"><div class="ttname"><a href="group__pixy__control.html#ga4b2080c6002ea758f49d748ecf8db28b">pixy_PID_Y</a></div><div class="ttdeci">int16_t pixy_PID_Y(int16_t x, int16_t w)</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00044">pixy_control.c:44</a></div></div>
<div class="ttc" id="pixy__control_8c_html_a270b42ec5ef46a54c91fe1958d551231"><div class="ttname"><a href="pixy__control_8c.html#a270b42ec5ef46a54c91fe1958d551231">REG_PID_KD</a></div><div class="ttdeci">#define REG_PID_KD</div><div class="ttdef"><b>Definition:</b> <a href="pixy__control_8c_source.html#l00039">pixy_control.c:39</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Mon Jun 8 2015 11:01:18 for discoverpixy by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.9.1
</small></address>
</body>
</html>