nýtt branch fyrir part3 og kóðar

include/motor_controller.h

@@ -3,7 +3,8 @@
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+//#include "p_controller.h"
+#include "pi_controller.h"
 #include "digital_out.h"
 
 class State;
@@ -24,7 +25,8 @@ private:
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    P_controller& controller;
+    //P_controller& controller;
+    PI_controller& controller;
 
     Digital_out led;
 
@@ -76,6 +78,10 @@ public:
     void led_on();
 
     void led_off();
+
+    void reset_controller();
 };
 
+
+
 #endif

include/p_controller.h

@@ -10,6 +10,9 @@ public:
     P_controller(double Kp);
 
     double update(double ref, double actual);
+
+
+    
 };
 
 #endif

include/pi_controller.h

@@ -0,0 +1,24 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+class PI_controller
+{
+private:
+    double Kp;
+    double Ti;
+    double T;
+    double integral;
+
+public:
+    PI_controller(
+        double Kp,
+        double Ti,
+        double T
+    );
+
+    double update(double ref, double actual);
+
+    void reset();
+};
+
+#endif

src/initialization_state.cpp

@@ -15,7 +15,10 @@ void InitializationState::enter()
 
     context->reset_speed_measurement();
 
+    context->reset_controller();
+
     enter_time_ms = millis();
+
 }
 
 

src/main.cpp

@@ -3,7 +3,8 @@
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+//#include "p_controller.h"
+#include "pi_controller.h"
 
 #include "motor_controller.h"
 
@@ -16,10 +17,15 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double KP = 12.5;
+//const double KP = 12.5;
 
-P_controller controller(KP);
+//P_controller controller(KP);
 
+PI_controller controller(
+    12.5,           // Kp
+    1.0,            // Ti
+    0.004           // T = 4 ms
+)
 
 InitializationState initialization_state;
 

src/motor_controller.cpp

@@ -7,7 +7,8 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller,
+    //P_controller& controller,
+    PI_controller& controller;
     State& initialization,
     State& operational,
     State& stopped
@@ -140,3 +141,8 @@ void MotorController::led_off()
 {
    led.set_lo();
 }
+
+void MotorController::reset_controller()
+{
+    controller.reset();
+}

src/pi_controller.cpp

@@ -0,0 +1,45 @@
+#include "pi_controller.h"
+
+PI_controller::PI_controller(
+    double Kp,
+    double Ti,
+    double T
+)
+    : Kp(Kp),
+      Ti(Ti),
+      T(T),
+      integral(0.0)
+{
+}
+
+
+double PI_controller::update(double ref, double actual)
+{
+    double error = ref - actual;
+
+    double new_integral = integral + error * T;
+
+    double output =
+        Kp * (error + new_integral / Ti);
+
+    // Saturation + anti-windup
+    if (output > 100.0)
+    {
+        return 100.0;
+    }
+
+    if (output < -100.0)
+    {
+        return -100.0;
+    }
+
+    integral = new_integral;
+
+    return output;
+}
+
+
+void PI_controller::reset()
+{
+    integral = 0.0;
+}