WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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pidController.h
Go to the documentation of this file.
1
18#ifndef INC_PIDCONTROLLER_H_
19#define INC_PIDCONTROLLER_H_
20
24class PIDController {
25 public:
26 PIDController(float kp, float ki, float kd);
27
28 void reset();
29 void setTunings(float kp, float ki, float kd);
30
31 float update(float error, float dt); // returns output correction
32
33 private:
34 float Kp, Ki, Kd;
35 float prevError;
36 float integral;
37 };
38#endif /* INC_PIDCONTROLLER_H_ */
PIDController::update
float update(float error, float dt)
Function updates the PID based on the new error values and adjusts.
Definition pidController.cpp:49
PIDController::Kd
float Kd
Definition pidController.h:34
PIDController::Kp
float Kp
Definition pidController.h:34
PIDController::Ki
float Ki
Definition pidController.h:34
PIDController::prevError
float prevError
Definition pidController.h:35
PIDController::integral
float integral
Definition pidController.h:36
PIDController::reset
void reset()
Resets Values of PID.
Definition pidController.cpp:30
PIDController::setTunings
void setTunings(float kp, float ki, float kd)
Function sets the tuning variables for the PID Controller.
Definition pidController.cpp:39
PIDController::PIDController
PIDController(float kp, float ki, float kd)
Constructor Fucntion for PID Controller Class.
Definition pidController.cpp:23