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Copy pathpid_mogo.h
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pid_mogo.h
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int mogo_stat;
int mogo_driver_control;
int mogoflag;
void Setmogo(int power){
mogo_driver_control = power;
}
void mogoout(){
mogoflag=1;
}
void mogoin(){
mogoflag=0;
}
task mogo_control(){
pid_mogo.PID_DRIVE_MAX = 127;
pid_mogo.PID_DRIVE_MIN = -127;
pid_mogo.PID_INTEGRAL_LIMIT = 100;
pid_mogo.pid_sensor=3;
pid_mogo.pid_method=3;
while(true){
if (mogo_stat==1){
if((SensorValue[MOGOPOT] <2800)&&(mogo_driver_control<0)){
UseMogo(mogo_driver_control);
}
else if ((SensorValue[MOGOPOT] >815)&&(mogo_driver_control>0)){
UseMogo(mogo_driver_control);
}
else{
UseMogo(0); //set mogo pid to down
}
///////////////////////////
if(mogoflag==0){
if(SensorValue[MOGOPOT] >815){
Setmogo(127);
}
else{
Setmogo(10);
}
}
else if(mogoflag==1){
if(SensorValue[MOGOPOT] <2800){
Setmogo(-127);
}
else{
Setmogo(0);
}
}
}
else if(mogo_stat==2){
if( pid_mogo.pid_running )
{
// Read the sensor value and scale
pid_mogo.pidSensorCurrentValue = get_pid_sensor(pid_mogo.pid_sensor) ;
// calculate error
pid_mogo.pidError = pid_mogo.pid_target - pid_mogo.pidSensorCurrentValue;
// integral - if Ki is not 0
if( pid_mogo.Ki != 0 )
{
// If we are inside controlable window then integrate the error
if( abs(pid_mogo.pidError) < pid_mogo.PID_INTEGRAL_LIMIT ){
pid_mogo.pidIntegral = pid_mogo.pidIntegral + pid_mogo.pidError;
}
else{
pid_mogo.pidIntegral = 0;
}
}
else{
pid_mogo.pidIntegral = 0;
}
if (pid_mogo.pidError == 0){
pid_mogo.pidIntegral = 0;
}
// calculate the derivative
pid_mogo.pidDerivative = pid_mogo.pidError - pid_mogo.pidLastError;
pid_mogo.pidLastError = pid_mogo.pidError;
// calculate drive
pid_mogo.pidDrive = pid_mogo.pidOffset+(pid_mogo.Kp * pid_mogo.pidError) + (pid_mogo.Ki * pid_mogo.pidIntegral) + (pid_mogo.Kd * pid_mogo.pidDerivative);
// limit drive
if( pid_mogo.pidDrive > pid_mogo.PID_DRIVE_MAX ){
pid_mogo.pidDrive = pid_mogo.PID_DRIVE_MAX;}
if( pid_mogo.pidDrive < pid_mogo.PID_DRIVE_MIN ){
pid_mogo.pidDrive = pid_mogo.PID_DRIVE_MIN;}
// send to motor
pid_method_switch(pid_mogo.pid_method,pid_mogo.pidDrive);
}
}
else if(mogo_stat==3){
if((SensorValue[MOGOPOT] <2800)&&(mogoflag==0)){
UseMogo(-127);
}
else if ((SensorValue[MOGOPOT] >750)&&(mogoflag==1)){
UseMogo(127);
}
else{
UseMogo(0); //set mogo pid to down
}
}
else{
Usemogo(mogo_driver_control);
}
wait1Msec( 25 );
}
}