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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