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uncrustify libraries/AC_PID/AC_PID.cpp

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uncrustify 2012-08-16 22:37:26 -07:00 committed by Pat Hickey
parent 2f5b292d50
commit 66ab46fa88
1 changed files with 79 additions and 79 deletions
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158
libraries/AC_PID/AC_PID.cpp Executable file → Normal file
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@ -7,127 +7,127 @@
#include "AC_PID.h"
const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, AC_PID, _kp, 0),
AP_GROUPINFO("I", 1, AC_PID, _ki, 0),
AP_GROUPINFO("D", 2, AC_PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, AC_PID, _imax, 0),
AP_GROUPEND
AP_GROUPINFO("P", 0, AC_PID, _kp, 0),
AP_GROUPINFO("I", 1, AC_PID, _ki, 0),
AP_GROUPINFO("D", 2, AC_PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, AC_PID, _imax, 0),
AP_GROUPEND
};
int32_t AC_PID::get_p(int32_t error)
{
return (float)error * _kp;
return (float)error * _kp;
}
int32_t AC_PID::get_i(int32_t error, float dt)
{
if((_ki != 0) && (dt != 0)){
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
return _integrator;
}
return 0;
if((_ki != 0) && (dt != 0)) {
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
return _integrator;
}
return 0;
}
int32_t AC_PID::get_d(int32_t input, float dt)
{
if ((_kd != 0) && (dt != 0)) {
_derivative = (input - _last_input) / dt;
if ((_kd != 0) && (dt != 0)) {
_derivative = (input - _last_input) / dt;
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
_derivative = _last_derivative +
(dt / ( _filter + dt)) * (_derivative - _last_derivative);
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
_derivative = _last_derivative +
(dt / ( _filter + dt)) * (_derivative - _last_derivative);
// update state
_last_input = input;
_last_derivative = _derivative;
// update state
_last_input = input;
_last_derivative = _derivative;
// add in derivative component
return _kd * _derivative;
}
return 0;
// add in derivative component
return _kd * _derivative;
}
return 0;
}
int32_t AC_PID::get_pi(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt);
return get_p(error) + get_i(error, dt);
}
int32_t AC_PID::get_pid(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt) + get_d(error, dt);
return get_p(error) + get_i(error, dt) + get_d(error, dt);
}
/*
int32_t AC_PID::get_pid(int32_t error, float dt)
{
// Compute proportional component
_output = error * _kp;
// Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) {
_derivative = (error - _last_error) / dt;
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
_derivative = _last_derivative +
(dt / ( _filter + dt)) * (_derivative - _last_derivative);
// update state
_last_error = error;
_last_derivative = _derivative;
// add in derivative component
_output += _kd * _derivative;
}
// Compute integral component if time has elapsed
if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
_output += _integrator;
}
return _output;
}
*/
* int32_t AC_PID::get_pid(int32_t error, float dt)
* {
* // Compute proportional component
* _output = error * _kp;
*
* // Compute derivative component if time has elapsed
* if ((fabs(_kd) > 0) && (dt > 0)) {
* _derivative = (error - _last_error) / dt;
*
* // discrete low pass filter, cuts out the
* // high frequency noise that can drive the controller crazy
* _derivative = _last_derivative +
* (dt / ( _filter + dt)) * (_derivative - _last_derivative);
*
* // update state
* _last_error = error;
* _last_derivative = _derivative;
*
* // add in derivative component
* _output += _kd * _derivative;
* }
*
* // Compute integral component if time has elapsed
* if ((fabs(_ki) > 0) && (dt > 0)) {
* _integrator += (error * _ki) * dt;
* if (_integrator < -_imax) {
* _integrator = -_imax;
* } else if (_integrator > _imax) {
* _integrator = _imax;
* }
* _output += _integrator;
* }
*
* return _output;
* }
*/
void
AC_PID::reset_I()
{
_integrator = 0;
_last_input = 0;
_last_derivative = 0;
_integrator = 0;
_last_input = 0;
_last_derivative = 0;
}
void
AC_PID::load_gains()
{
_kp.load();
_ki.load();
_kd.load();
_imax.load();
_imax = abs(_imax);
_kp.load();
_ki.load();
_kd.load();
_imax.load();
_imax = abs(_imax);
}
void
AC_PID::save_gains()
{
_kp.save();
_ki.save();
_kd.save();
_imax.save();
_kp.save();
_ki.save();
_kd.save();
_imax.save();
}