From fc9f1a821648815e321ea124763833abfd9d9d79 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 22:37:26 -0700 Subject: [PATCH] uncrustify libraries/AC_PID/AC_PID.cpp --- libraries/AC_PID/AC_PID.cpp | 158 ++++++++++++++++++------------------ 1 file changed, 79 insertions(+), 79 deletions(-) mode change 100755 => 100644 libraries/AC_PID/AC_PID.cpp diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp old mode 100755 new mode 100644 index a02c54ce57..78440419e5 --- a/libraries/AC_PID/AC_PID.cpp +++ b/libraries/AC_PID/AC_PID.cpp @@ -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(); }