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