23 lines
453 B
C
23 lines
453 B
C
#include "pid.h"
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float pid_update(pid_t* pid, float error, float gyro_rate, float dt)
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{
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float p = pid->kp * error;
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pid->integral += error * dt;
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if (pid->integral > 100) pid->integral = 100;
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if (pid->integral < -100) pid->integral = -100;
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float i = pid->ki * pid->integral;
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float d = - pid->kd * gyro_rate;
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pid->prev_error = error;
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float spid = p + i + d;
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if (spid > 300) spid = 300;
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if (spid < -300) spid = -300;
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return spid;
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} |