adding dependencies

2022-10-10 12:39:30 +01:00
parent 0e8e1e4db6
commit 2327ae7aab
867 changed files with 137599 additions and 0 deletions
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+/*
+ * This file is part of the libopeninv project.
+ *
+ * Copyright (C) 2018 Johannes Huebner <dev@johanneshuebner.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef PIREGULATOR_H
+#define PIREGULATOR_H
+
+#include "my_fp.h"
+#include "my_math.h"
+
+class PiController
+{
+   public:
+      /** Default constructor */
+      PiController();
+
+      /** Set regulator proportional and integral gain.
+       * \param kp New value to set for proportional gain
+       * \param ki New value for integral gain
+       */
+      void SetGains(int kp, int ki)
+      {
+         this->kp = kp;
+         this->ki = ki;
+      }
+
+      void SetProportionalGain(int kp) { this->kp = kp; }
+      void SetIntegralGain(int ki) { this->ki = ki; }
+
+      /** Set regulator target set point
+       * \param val regulator target
+       */
+      void SetRef(s32fp val) { refVal = val; }
+
+      s32fp GetRef() { return refVal; }
+
+      /** Set maximum controller output
+        * \param val actuator saturation value
+        */
+      void SetMinMaxY(int32_t valMin, int32_t valMax) { minY = valMin; maxY = valMax; }
+
+      /** Set calling frequency
+       * \param val New value to set
+       */
+      void SetCallingFrequency(int val) { frequency = val; }
+
+      /** Run controller to obtain a new actuator value
+       * \param curVal currently measured value
+       * \return new actuator value
+       */
+      int32_t Run(s32fp curVal);
+
+      /** Run controller to obtain a new actuator value, run only proportional part
+       * \param curVal currently measured value
+       * \return new actuator value
+       */
+      int32_t RunProportionalOnly(s32fp curVal);
+
+      /** Reset integrator to 0 */
+      void ResetIntegrator() { esum = 0; }
+
+      /** Preload Integrator to yield a certain output
+       * @pre SetCallingFrequency() and SetGains() must be called first
+      */
+      void PreloadIntegrator(int32_t yieldedOutput) { esum = ki != 0 ? FP_FROMINT((yieldedOutput * frequency) / ki) : 0; }
+
+   protected:
+
+   private:
+      int32_t kp; //!< Proportional controller gain
+      int32_t ki; //!< Integral controller gain
+      s32fp esum; //!< Integrator
+      s32fp refVal; //!< control target
+      int32_t frequency; //!< Calling frequency
+      int32_t maxY; //!< upper actuator saturation value
+      int32_t minY; //!< lower actuator saturation value
+};
+
+#endif // PIREGULATOR_H