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uncrustify libraries/PID/examples/pid/pid.pde

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uncrustify 2012-08-16 23:22:43 -07:00 committed by Pat Hickey
parent 062514e9c9
commit 1ddce0cdcb
1 changed files with 59 additions and 59 deletions
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56
libraries/PID/examples/pid/pid.pde
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@ -1,7 +1,7 @@
/*
Example of PID library.
2010 Code by Jason Short. DIYDrones.com
*/
* Example of PID library.
* 2010 Code by Jason Short. DIYDrones.com
*/
#include <FastSerial.h>
#include <avr/pgmspace.h>
@ -17,43 +17,43 @@ long radio_trim;
Arduino_Mega_ISR_Registry isr_registry;
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
APM_RC_APM1 APM_RC;
#endif
PID pid;
void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot Mega PID library test");
APM_RC.Init(&isr_registry); // APM Radio initialization
Serial.begin(38400);
Serial.println("ArduPilot Mega PID library test");
APM_RC.Init(&isr_registry); // APM Radio initialization
delay(1000);
//rc.trim();
radio_trim = APM_RC.InputCh(0);
delay(1000);
//rc.trim();
radio_trim = APM_RC.InputCh(0);
pid.kP(1);
pid.kI(0);
pid.kD(0.5);
pid.imax(50);
pid.save_gains();
pid.kP(0);
pid.kI(0);
pid.kD(0);
pid.imax(0);
pid.load_gains();
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
pid.kP(1);
pid.kI(0);
pid.kD(0.5);
pid.imax(50);
pid.save_gains();
pid.kP(0);
pid.kI(0);
pid.kD(0);
pid.imax(0);
pid.load_gains();
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
}
void loop()
{
delay(20);
//rc.read_pwm();
long error = APM_RC.InputCh(0) - radio_trim;
long control = pid.get_pid(error, 1);
delay(20);
//rc.read_pwm();
long error = APM_RC.InputCh(0) - radio_trim;
long control = pid.get_pid(error, 1);
Serial.print("control: ");
Serial.println(control,DEC);
Serial.print("control: ");
Serial.println(control,DEC);
}