[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 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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[15] | 30 | PidThrust_impl::PidThrust_impl(PidThrust *self, const LayoutPosition *position,
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| 31 | string name) {
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| 32 | i = 0;
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| 33 | offset_g = 0;
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| 34 | first_update = true;
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| 35 | this->self = self;
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[7] | 36 |
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[15] | 37 | // init matrix
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| 38 | self->input = new cvmatrix(self, 2, 1, floatType, name);
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[7] | 39 |
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[15] | 40 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(5, 1);
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| 41 | desc->SetElementName(0, 0, "p");
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| 42 | desc->SetElementName(1, 0, "i");
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| 43 | desc->SetElementName(2, 0, "d");
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| 44 | desc->SetElementName(3, 0, "p+i+d");
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| 45 | desc->SetElementName(4, 0, "p+i+d+offset");
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| 46 | state = new cvmatrix(self, desc, floatType, name);
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[7] | 47 |
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[15] | 48 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 49 | T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
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| 50 | 0, 1, 0.01);
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| 51 | kp = new DoubleSpinBox(reglages_groupbox->NewRow(), "kp:", 0, 90000000, 0.01);
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| 52 | ki = new DoubleSpinBox(reglages_groupbox->NewRow(), "ki:", 0, 90000000, 0.01);
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| 53 | sati = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "sat i:", 0, 1,
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| 54 | 0.01);
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| 55 | kd = new DoubleSpinBox(reglages_groupbox->NewRow(), "kd:", 0, 90000000, 0.01);
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| 56 | offset = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "offset g:",
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| 57 | 0, 1, 0.01);
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| 58 | sat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat:", 0, 1, 0.1);
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| 59 | pas_offset = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
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| 60 | "offset step:", 0, 1, .0001, 4);
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[7] | 61 | }
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| 62 |
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[15] | 63 | PidThrust_impl::~PidThrust_impl(void) {}
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[7] | 64 |
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[15] | 65 | void PidThrust_impl::UseDefaultPlot(const LayoutPosition *position) {
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| 66 | DataPlot1D *plot = new DataPlot1D(position, self->ObjectName(), -1, 1);
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| 67 | plot->AddCurve(state->Element(0));
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| 68 | plot->AddCurve(state->Element(1), DataPlot::Green);
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| 69 | plot->AddCurve(state->Element(2), DataPlot::Blue);
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| 70 | plot->AddCurve(state->Element(3), DataPlot::Black);
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| 71 | plot->AddCurve(state->Element(4), DataPlot::Yellow);
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[7] | 72 | }
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| 73 |
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[15] | 74 | void PidThrust_impl::UpdateFrom(const io_data *data) {
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| 75 | float p, d, total;
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| 76 | float delta_t;
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| 77 | cvmatrix *input = (cvmatrix *)data;
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[7] | 78 |
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[15] | 79 | if (T->Value() == 0) {
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| 80 | delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
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| 81 | } else {
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| 82 | delta_t = T->Value();
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| 83 | }
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| 84 | if (first_update == true) {
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| 85 | delta_t = 0;
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| 86 | first_update = false;
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| 87 | }
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[7] | 88 |
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[15] | 89 | input->GetMutex();
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| 90 | p = kp->Value() * input->ValueNoMutex(0, 0);
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| 91 | i += ki->Value() * input->ValueNoMutex(0, 0) * delta_t;
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| 92 | if (i > sati->Value())
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| 93 | i = sati->Value();
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| 94 | if (i < -sati->Value())
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| 95 | 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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[7] | 98 |
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[15] | 99 | total = p + i + d;
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| 100 | if (total > sat->Value())
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| 101 | total = sat->Value();
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| 102 | if (total < -sat->Value())
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| 103 | total = -sat->Value();
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[7] | 104 |
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[15] | 105 | state->GetMutex();
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| 106 | state->SetValueNoMutex(0, 0, p);
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| 107 | state->SetValueNoMutex(1, 0, i);
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| 108 | state->SetValueNoMutex(2, 0, d);
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| 109 | state->SetValueNoMutex(3, 0, total);
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| 110 | state->SetValueNoMutex(4, 0, total - offset_g * offset_g);
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| 111 | state->ReleaseMutex();
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[7] | 112 |
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[15] | 113 | //-offset_g, car on met -u_z dans le multiplex
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| 114 | // a revoir!
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| 115 | self->output->SetValue(0, 0, total - offset_g * offset_g);
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| 116 | self->output->SetDataTime(data->DataTime());
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[7] | 117 |
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[15] | 118 | previous_time = data->DataTime();
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[7] | 119 | }
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