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Add saturation and sink blocks. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1660 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-02-15 03:10:01 +00:00
parent 0cfa2dbea1
commit a5ada4aec7
1 changed files with 48 additions and 13 deletions
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61
libraries/AP_Controller/AP_Controller.h
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@ -37,11 +37,12 @@ public:
virtual void update(const float & dt) = 0;
virtual void connect( Block * block)
{
if (!block) return;
for (int i=0;block->getOutput().getSize();i++)
_input.push_back(block->getOutput()[i]);
}
const char * getName() { return _name; }
const Vector < AP_Float * > & getOutput() const { return _output; }
protected:
const char * _name;
Vector< const AP_Float * > _input;
Vector< AP_Float * > _output;
};
@ -53,11 +54,8 @@ public:
ToServo(AP_RcChannel * ch) : _ch(ch)
{
}
virtual void connect(Block * block)
{
if (block->getOutput().getSize() > 0)
_input.push_back(block->getOutput()[0]);
}
// doesn't connect
virtual void connect(Block * block) {};
virtual void update(const float & dt = 0)
{
if (_input.getSize() > 0)
@ -134,12 +132,7 @@ public:
{
_output.push_back(new AP_Float(0));
}
virtual void connect(Block * block)
{
if (!block) return;
if (block->getOutput().getSize() > 0)
_input.push_back(block->getOutput()[0]);
}
virtual void update(const float & dt)
{
if (_output.getSize() < 1 || (!_input[0]) || (!_output[0]) ) return;
@ -187,6 +180,48 @@ private:
AP_Uint8 _fCut; /// derivative low-pass cut freq (Hz)
};
/// Sink block
/// saves input port to variable
class Sink : public Block
{
public:
Sink(AP_Float & var, uint8_t port=0) :
_var(var), _port(port)
{
}
virtual void update(const float & dt)
{
_var = _input[_port]->get();
}
// doesn't connect
virtual void connect(Block * block) {}
private:
AP_Float & _var;
uint8_t _port;
};
/// Saturate block
/// Constrains output to a range
class Saturate : public Block
{
public:
Saturate(AP_Float & min, AP_Float & max, uint8_t port=0) :
_min(min), _max(max), _port(port)
{
}
virtual void update(const float & dt)
{
float u = _input[_port]->get();
if (u>_max) u = _max;
if (u<_min) u = _min;
_output[_port]->set(u);
}
private:
uint8_t _port;
AP_Float & _min;
AP_Float & _max;
};
/// Controller class
class AP_Controller
{