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uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde

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uncrustify 2012-08-16 22:37:26 -07:00 committed by Pat Hickey
parent 753ac6c27b
commit 2f5b292d50
1 changed files with 27 additions and 27 deletions
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54
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde
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@ -1,7 +1,7 @@
/*
Example of PID library.
2012 Code by Jason Short, Randy Mackay. DIYDrones.com
*/
* Example of PID library.
* 2012 Code by Jason Short, Randy Mackay. DIYDrones.com
*/
// includes
#include <Arduino_Mega_ISR_Registry.h>
@ -26,39 +26,39 @@ APM_RC_APM1 APM_RC;
// setup function
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot Mega AC_PID library test");
Serial.begin(115200);
Serial.println("ArduPilot Mega AC_PID library test");
isr_registry.init();
APM_RC.Init(&isr_registry); // APM Radio initialization
isr_registry.init();
APM_RC.Init(&isr_registry); // APM Radio initialization
delay(1000);
delay(1000);
}
// main loop
void loop()
{
// setup (unfortunately must be done here as we cannot create a global AC_PID object)
AC_PID pid(0, PSTR("TESTPID_"), TEST_P, TEST_I, TEST_D, TEST_IMAX * 100);
uint16_t radio_in;
uint16_t radio_trim;
int error;
int control;
float dt = 1000/50;
// setup (unfortunately must be done here as we cannot create a global AC_PID object)
AC_PID pid(0, PSTR("TESTPID_"), TEST_P, TEST_I, TEST_D, TEST_IMAX * 100);
uint16_t radio_in;
uint16_t radio_trim;
int error;
int control;
float dt = 1000/50;
// display PID gains
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
// display PID gains
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
// capture radio trim
radio_trim = APM_RC.InputCh(0);
// capture radio trim
radio_trim = APM_RC.InputCh(0);
while( true ) {
radio_in = APM_RC.InputCh(0);
error = radio_in - radio_trim;
control = pid.get_pid(error, dt);
while( true ) {
radio_in = APM_RC.InputCh(0);
error = radio_in - radio_trim;
control = pid.get_pid(error, dt);
// display pid results
Serial.printf("radio: %d\t err: %d\t pid:%d\n", radio_in, error, control);
delay(50);
}
// display pid results
Serial.printf("radio: %d\t err: %d\t pid:%d\n", radio_in, error, control);
delay(50);
}
}