#c-lang

[stomygame]

The search is over, a GDB frontend that actually works properly. github.com/nakst/gf is the real deal. Forget Qt Creator, disregard Eclipse CDT, ignore Nemiver, Kdbg, and DDD. gf is so far the only one that works better than using GDB from the command line directly.

[stomygame]

It took making a widget to represent one, but I think I finally understand how bezier curves work. Next I'll put together an editor for building piecewise curves and then I can get them hooked up to terrain generation.

[vampiredepths]

I don't know how you put up with my ugly ass and bad mouth but I am happy to be your friend and I hope you are okay -Guacamole

I don’t know how you put up with my words not forming sentences right 24-7 but that ask is so kind and thank you for being my friend guaca I appreciate it

[vidieukhien]

Thư viện PID - C Language

/* PID Library Copyright @2013 vidieukhien.net forum */ #ifndef _PID_H_ #define _PID_H_ #include <stdint.h> #define PID_DIRECT 0 #define PID_REVERSE 1 typedef struct { double kp; double ki; double kd; double *input; double *output; double *setPoint; double outMin; double outMax; double lastInput; double lastProcessValue; double sampleTime; } PID; void PID_Init(PID *pid, double *input, double *output, double *setPoint, double kp, double ki, double kd, double sampleTimeMs, uint8_t direction); void PID_SetOutputLimits(PID *pid, double min, double max); void PID_Compute(PID *pid); void PID_SetTunings(PID *pid, double kp, double ki, double kd, uint8_t direction); #endif

file pid.c

/* PID Library Copyright @2013 vidieukhien.net forum */ #include "pid.h" void PID_SetOutputLimits(PID *pid, double min, double max) { pid->outMin = min; pid->outMax = max; if(pid->lastProcessValue < min) pid->lastProcessValue = min; if(pid->lastProcessValue > max) pid->lastProcessValue = max; if(*pid->output < min) *pid->output = min; if(*pid->output > max) *pid->output = max; } void PID_SetTunings(PID *pid, double kp, double ki, double kd, uint8_t direction) { float sampleTimeInSec = pid->sampleTime/1000.0; pid->kp = kp; pid->ki = ki * sampleTimeInSec; pid->kd = kd / sampleTimeInSec; if(direction == PID_REVERSE) { pid->kp = -pid->kp; pid->ki = -pid->ki; pid->kd = -pid->kd; } } void PID_Init(PID *pid, double *input, double *output, double *setPoint, double kp, double ki, double kd, double sampleTimeMs, uint8_t direction) { pid->input = input; pid->output = output; pid->setPoint = setPoint; pid->lastInput = *input; pid->lastProcessValue = *output; pid->sampleTime = sampleTimeMs; PID_SetTunings(pid, kp, ki, kd, direction); PID_SetOutputLimits(pid, 100, 1000); } void PID_Compute(PID *pid) { double input, error, dinput, output; input = *pid->input; error = *pid->setPoint - input; pid->lastProcessValue += (pid->ki * error); if(pid->lastProcessValue > pid->outMax) pid->lastProcessValue = pid->outMax; if(pid->lastProcessValue < pid->outMin) pid->lastProcessValue = pid->outMin; dinput = input - pid->lastInput; output = pid->kp * error + pid->lastProcessValue - pid->kd * dinput; if(output > pid->outMax) output = pid->outMax; if(output < pid->outMin) output = pid->outMin; *pid->output = output; pid->lastInput = input; }

Ví dụ sử dụng:

/*app examle */ #include "pid.h" PID pid; double vInput, vSetpoint, pwmOutput; double kp = 3, ki = 7, kd = 0.1, sampleTime = 100; /* initilize pid in initilization function */ void APP_Init() { vInput = SENSOR_Read(); vSetpoint = 30; /*Set voltage at 30V*/ PID_Init(&pid, &vInput, &pwmOutput, &vSetpoint, kp, ki, kd, sampleTime, PID_REVERSE); } /*Call every sample time (in milisecond)*/ void TaskEvery100ms() { //Read sensor to vInput vInput = SENSOR_Read(); //Calculate PID PID_Compute(&pid); //Set PWM duty PWM_SetDuty(pwmOutput); } void APP_SetVref(double volt) { vSetpoint = volt; }

Demo:

[[youtube-{A64S2gVdDH0}-{688}x{387}]]

[tecknbstr-blog]

[fracmode]

[fracmode]

C 言語の講座。コードサンプルはあまりよくないという評判も。