DCAITI Robot Hardware
1.0
lib
PID_Beta6
fuzzy_table.h
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#if 0
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#ifndef _PID_TABLE_H_
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#define _PID_TABLE_H_
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#define PB 6
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#define PM 5
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#define PS 4
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#define ZO 3
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#define NS 2
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#define NM 1
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#define NB 0
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#define DELTA_KP_IDX 0
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#define DELATA_KI_IDX 1
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#define ERR 7
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#define DELTA_ERR 7
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const
char
pid_tbl[2][7][7]={
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{
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{PB,PB,PM,PM,PS,ZO,ZO},
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{PB,PB,PM,PS,PS,ZO,ZO},
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{PM,PM,PM,PS,ZO,NS,NS},
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{PM,PM,PS,ZO,NS,NM,NM},
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{PS,PS,ZO,NS,NS,NM,NM},
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{PS,ZO,NS,NM,NM,NM,NB},
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{ZO,ZO,NM,NM,NM,NB,NB},
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},
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{
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{NB,NB,NM,NM,NS,ZO,ZO},
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{NB,NB,NM,NS,NS,ZO,ZO},
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{NB,NM,NS,NS,ZO,PS,PS},
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{NM,NM,NS,ZO,PS,PM,PM},
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{NM,NS,ZO,PS,PS,PM,PB},
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{ZO,ZO,PS,PS,PM,PB,PB},
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{ZO,ZO,PS,PM,PM,PB,PB},
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},
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};
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const
float
kp_tbl[ERR] = {
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0.07987,
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0.08974,
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0.09948,
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0.12922,
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0.54896,
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0.70000,
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0.76000,
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};
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const
float
ki_tbl[DELTA_ERR] = {
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0.02451,
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0.07353,
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0.14706,
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0.19608,
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0.24510,
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0.30000,
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0.00000,
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};
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#endif _PID_TABLE_H_
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#endif
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