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Bugfix - removed reset wind-up fix

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Removed the reset windup prevention code, as the old code already
took care of that by only incrementing Ierror when output was not being clamped.
This commit is contained in:
Kristof Robot 2013-08-16 16:16:48 +02:00
parent 2c9881552b
commit 7887d639f3
1 changed files with 11 additions and 16 deletions
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27
ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
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@ -15,7 +15,7 @@ typedef struct {
* Using previous input (PrevInput) instead of PrevError to avoid derivative kick, * Using previous input (PrevInput) instead of PrevError to avoid derivative kick,
* see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ * see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/
*/ */
long PrevInput; // last input int PrevInput; // last input
//int PrevErr; // last error //int PrevErr; // last error
/* /*
@ -24,9 +24,9 @@ typedef struct {
* see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/ * see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
*/ */
//int Ierror; //int Ierror;
long ITerm; //integrated term int ITerm; //integrated term
int output; // last motor setting long output; // last motor setting
} }
SetPointInfo; SetPointInfo;
@ -45,8 +45,8 @@ unsigned char moving = 0; // is the base in motion?
* when turning PID on to start moving * when turning PID on to start moving
* In particular, assign both Encoder and PrevEnc the current encoder value * In particular, assign both Encoder and PrevEnc the current encoder value
* See http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/ * See http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/
* Note that the assumption here is that PID is only turned on * Note that the assumption here is that PID is only turned on
* when going from stop to moving, that's why we can init everything on zero. * when going from stop to moving, that's why we can init everything on zero.
*/ */
void resetPID(){ void resetPID(){
leftPID.TargetTicksPerFrame = 0.0; leftPID.TargetTicksPerFrame = 0.0;
@ -68,19 +68,12 @@ void resetPID(){
void doPID(SetPointInfo * p) { void doPID(SetPointInfo * p) {
long Perror; long Perror;
long output; long output;
long input; int input;
//Perror = p->TargetTicksPerFrame - (p->Encoder - p->PrevEnc); //Perror = p->TargetTicksPerFrame - (p->Encoder - p->PrevEnc);
input = p->Encoder - p->PrevEnc; input = p->Encoder - p->PrevEnc;
Perror = p->TargetTicksPerFrame - input; Perror = p->TargetTicksPerFrame - input;
/*
* Avoid reset windup,
* see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-reset-windup/
*/
p->ITerm += (Ki * Perror);
if (p->ITerm > MAX_PWM) p->ITerm = MAX_PWM;
else if (p->ITerm < -MAX_PWM) p->ITerm = MAX_PWM;
/* /*
* Avoid derivative kick and allow tuning changes, * Avoid derivative kick and allow tuning changes,
@ -99,9 +92,11 @@ void doPID(SetPointInfo * p) {
output = MAX_PWM; output = MAX_PWM;
else if (output <= -MAX_PWM) else if (output <= -MAX_PWM)
output = -MAX_PWM; output = -MAX_PWM;
//else else
// p->Ierror += Perror; /*
* allow turning changes, see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
*/
p->ITerm += Ki * Perror;
p->output = output; p->output = output;
p->PrevInput = input; p->PrevInput = input;