source: flair-src/trunk/lib/FlairFilter/src/PidThrust.cpp@ 456

Last change on this file since 456 was 216, checked in by Sanahuja Guillaume, 4 years ago

maj

File size: 2.1 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/11/07
6// filename: PidThrust.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining a PidThrust
14//
15//
16/*********************************************************************/
17
18#include "PidThrust.h"
19#include "PidThrust_impl.h"
20#include <Matrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23#include <DoubleSpinBox.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace filter {
31
32PidThrust::PidThrust(const LayoutPosition *position, string name)
33 : ControlLaw(position->getLayout(), name) {
34 pimpl_ = new PidThrust_impl(this, position, name);
35
36 SetIsReady(true);
37}
38
39PidThrust::~PidThrust(void) { delete pimpl_; }
40
41void PidThrust::UseDefaultPlot(const flair::gui::LayoutPosition *position) {
42 pimpl_->UseDefaultPlot(position);
43}
44
45void PidThrust::Reset(void) {
46 ResetI();
47 SetDefaultOffset();
48 SetValues(0,0);
49}
50
51void PidThrust::ResetI(void) { pimpl_->i = 0; }
52
53float PidThrust::GetOffset(void) const { return pimpl_->offset_g; }
54
55float PidThrust::GetIntegral(void) const { return pimpl_->i; }
56
57void PidThrust::UpdateFrom(const io_data *data) {
58 pimpl_->UpdateFrom(data);
59 ProcessUpdate(output);
60}
61
62void PidThrust::SetValues(float p, float d) {
63 input->SetValue(0, 0, p);
64 input->SetValue(1, 0, d);
65}
66
67void PidThrust::SetDefaultOffset(void) { pimpl_->offset_g = pimpl_->offset->Value(); }
68
69void PidThrust::SetOffset(float value) { pimpl_->offset_g = value; }
70
71bool PidThrust::OffsetStepUp(void) {
72 pimpl_->offset_g += pimpl_->pas_offset->Value();
73 if (pimpl_->offset_g > 1) {
74 pimpl_->offset_g = 1;
75 return false;
76 } else {
77 return true;
78 }
79}
80
81bool PidThrust::OffsetStepDown(void) {
82 pimpl_->offset_g -= pimpl_->pas_offset->Value();
83 if (pimpl_->offset_g < pimpl_->offset->Value()) {
84 pimpl_->offset_g = pimpl_->offset->Value();
85 return false;
86 } else {
87 return true;
88 }
89}
90
91} // end namespace filter
92} // end namespace flair
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