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src/pMotionControler/pidControl.hpp

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+/*
+ * @Author: zjk 1553836110@qq.com
+ * @Date: 2023-10-16 15:14:26
+ * @LastEditors: zjk 1553836110@qq.com
+ * @LastEditTime: 2023-11-02 18:03:14
+ * @FilePath: /moos-ivp-pi/src/pMotionControler/pidControl.hpp
+ * @Description: 
+ * 
+ * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
+ */
+#ifndef _PIDCONTROL_H
+#define _PIDCONTROL_H
+#include"Controler.hpp"
+
+typedef struct
+{
+    double kp;
+    double ki;
+    double kd;
+
+    double error_0;
+    double error_1;
+    double error_2;
+
+    double limit_delta;
+    double max_out;
+    double min_out;
+
+    double delta_output;
+    double output;
+} pidInc;
+
+
+class pidControl : public Controler
+{
+private:
+    /* data */
+    pidInc pid_speed;
+    pidInc pid_heading;
+    pidInc pid_pitch;
+    pidInc pid_depth;
+
+    double current_error;
+    double last_error;
+    vector<double> Error;
+    int Error_capacity;
+
+public:
+    pidControl(/* args */);
+    ~pidControl(){};
+
+    int step();
+    
+    bool setParam(double p, double i, double d, double limitDelta, double max, double min, pidInc &pid);
+    bool setParam(char n, double param, pidInc *pid_t);
+    int setParam(string filePath);
+    bool setParam(Json::Value param, pidInc &pid);
+
+    bool hasConfigSettings() const;
+    
+    double pidStep(double error, pidInc &pid);
+    //double picStep_p(double error, pidInc &pid);
+
+    bool overrived(string svar);
+
+    inline void pidClear(pidInc &pid)
+    {
+        pid.error_0 = 0;
+        pid.error_1 = 0;
+        pid.error_2 = 0;
+        pid.delta_output = 0;
+        pid.output = 0;
+    }
+
+};
+
+#endif