| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2014/11/07
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| 6 | // filename: PidThrust_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class defining a PID
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "PidThrust_impl.h"
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| 18 | #include "PidThrust.h"
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| 19 | #include <cvmatrix.h>
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| 20 | #include <Layout.h>
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| 21 | #include <GroupBox.h>
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| 22 | #include <DoubleSpinBox.h>
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| 23 | #include <DataPlot1D.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 | using namespace flair::filter;
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| 29 |
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| 30 | PidThrust_impl::PidThrust_impl(PidThrust* self,const LayoutPosition* position,string name) {
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| 31 | i=0;
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| 32 | offset_g=0;
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| 33 | first_update=true;
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| 34 | this->self=self;
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| 35 |
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| 36 | //init matrix
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| 37 | self->input=new cvmatrix(self,2,1,floatType,name);
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| 38 |
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| 39 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(5,1);
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| 40 | desc->SetElementName(0,0,"p");
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| 41 | desc->SetElementName(1,0,"i");
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| 42 | desc->SetElementName(2,0,"d");
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| 43 | desc->SetElementName(3,0,"p+i+d");
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| 44 | desc->SetElementName(4,0,"p+i+d+offset");
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| 45 | state=new cvmatrix(self,desc,floatType,name);
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| 46 |
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| 47 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 48 | T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
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| 49 | kp=new DoubleSpinBox(reglages_groupbox->NewRow(),"kp:",0,90000000,0.01);
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| 50 | ki=new DoubleSpinBox(reglages_groupbox->NewRow(),"ki:",0,90000000,0.01);
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| 51 | sati=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"sat i:",0,1,0.01);
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| 52 | kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,90000000,0.01);
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| 53 | offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset g:",0,1,0.01);
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| 54 | sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat:",0,1,0.1);
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| 55 | pas_offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset step:",0,1,.0001,4);
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| 56 | }
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| 57 |
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| 58 | PidThrust_impl::~PidThrust_impl(void) {
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| 59 | }
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| 60 |
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| 61 | void PidThrust_impl::UseDefaultPlot(const LayoutPosition* position)
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| 62 | {
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| 63 | DataPlot1D *plot=new DataPlot1D(position,self->ObjectName(),-1,1);
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| 64 | plot->AddCurve(state->Element(0));
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| 65 | plot->AddCurve(state->Element(1),DataPlot::Green);
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| 66 | plot->AddCurve(state->Element(2),DataPlot::Blue);
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| 67 | plot->AddCurve(state->Element(3),DataPlot::Black);
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| 68 | plot->AddCurve(state->Element(4),DataPlot::Yellow);
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| 69 | }
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| 70 |
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| 71 | void PidThrust_impl::UpdateFrom(const io_data *data)
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| 72 | {
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| 73 | float p,d,total;
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| 74 | float delta_t;
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| 75 | cvmatrix *input=(cvmatrix*)data;
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| 76 |
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| 77 | if(T->Value()==0)
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| 78 | {
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| 79 | delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
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| 80 | }
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| 81 | else
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| 82 | {
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| 83 | delta_t=T->Value();
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| 84 | }
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| 85 | if(first_update==true)
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| 86 | {
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| 87 | delta_t=0;
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| 88 | first_update=false;
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| 89 | }
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| 90 |
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| 91 | input->GetMutex();
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| 92 | p=kp->Value()*input->ValueNoMutex(0,0);
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| 93 | i+=ki->Value()*input->ValueNoMutex(0,0)*delta_t;
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| 94 | if(i>sati->Value()) i=sati->Value();
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| 95 | if(i<-sati->Value()) i=-sati->Value();
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| 96 | d=kd->Value()*input->ValueNoMutex(1,0);
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| 97 | input->ReleaseMutex();
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| 98 |
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| 99 | total=p+i+d;
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| 100 | if(total>sat->Value()) total=sat->Value();
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| 101 | if(total<-sat->Value()) total=-sat->Value();
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| 102 |
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| 103 | state->GetMutex();
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| 104 | state->SetValueNoMutex(0,0,p);
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| 105 | state->SetValueNoMutex(1,0,i);
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| 106 | state->SetValueNoMutex(2,0,d);
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| 107 | state->SetValueNoMutex(3,0,total);
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| 108 | state->SetValueNoMutex(4,0,total-offset_g*offset_g);
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| 109 | state->ReleaseMutex();
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| 110 |
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| 111 | //-offset_g, car on met -u_z dans le multiplex
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| 112 | //a revoir!
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| 113 | self->output->SetValue(0,0,total-offset_g*offset_g);
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| 114 | self->output->SetDataTime(data->DataTime());
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| 115 |
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| 116 | previous_time=data->DataTime();
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| 117 | }
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