[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: 2011/05/01
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| 6 | // filename: Pid_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 "Pid_impl.h"
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| 18 | #include "Pid.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 | Pid_impl::Pid_impl(Pid *self, const LayoutPosition *position, string name) {
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| 31 | i = 0;
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| 32 | first_update = true;
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| 33 | this->self = self;
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[7] | 34 |
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[15] | 35 | // init matrix
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| 36 | self->input = new cvmatrix(self, 2, 1, floatType, name);
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[7] | 37 |
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[15] | 38 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 1);
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| 39 | desc->SetElementName(0, 0, "p");
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| 40 | desc->SetElementName(1, 0, "i");
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| 41 | desc->SetElementName(2, 0, "d");
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| 42 | desc->SetElementName(3, 0, "p+i+d");
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| 43 | state = new cvmatrix(self, desc, floatType, name);
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[7] | 44 |
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[15] | 45 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 46 | T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
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| 47 | 0, 1, 0.01);
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| 48 | kp = new DoubleSpinBox(reglages_groupbox->NewRow(), "kp:", 0, 90000000, 0.01,
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| 49 | 3);
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| 50 | ki = new DoubleSpinBox(reglages_groupbox->NewRow(), "ki:", 0, 90000000, 0.01,
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| 51 | 3);
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| 52 | sati = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "sat i:", 0, 1,
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| 53 | 0.01);
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| 54 | kd = new DoubleSpinBox(reglages_groupbox->NewRow(), "kd:", 0, 90000000, 0.01,
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| 55 | 3);
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| 56 | sat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat:", 0, 1, 0.1);
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[7] | 57 | }
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| 58 |
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[15] | 59 | Pid_impl::~Pid_impl(void) {}
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[7] | 60 |
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[15] | 61 | void Pid_impl::UseDefaultPlot(const LayoutPosition *position) {
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| 62 | DataPlot1D *plot = new DataPlot1D(position, self->ObjectName(), -1, 1);
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| 63 | plot->AddCurve(state->Element(0));
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| 64 | plot->AddCurve(state->Element(1), DataPlot::Green);
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| 65 | plot->AddCurve(state->Element(2), DataPlot::Blue);
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| 66 | plot->AddCurve(state->Element(3), DataPlot::Black);
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[7] | 67 | }
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| 68 |
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| 69 | void Pid_impl::UpdateFrom(const io_data *data) {
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[15] | 70 | float p, d, total;
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| 71 | float delta_t;
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| 72 | cvmatrix *input = (cvmatrix *)data;
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[7] | 73 |
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[15] | 74 | if (T->Value() == 0) {
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| 75 | delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
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| 76 | } else {
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| 77 | delta_t = T->Value();
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| 78 | }
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| 79 | if (first_update == true) {
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| 80 | delta_t = 0;
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| 81 | first_update = false;
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| 82 | }
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[7] | 83 |
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[15] | 84 | input->GetMutex();
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| 85 | p = kp->Value() * input->ValueNoMutex(0, 0);
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| 86 | i += ki->Value() * input->ValueNoMutex(0, 0) * delta_t;
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| 87 | if (i > sati->Value())
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| 88 | i = sati->Value();
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| 89 | if (i < -sati->Value())
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| 90 | i = -sati->Value();
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| 91 | d = kd->Value() * input->ValueNoMutex(1, 0);
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| 92 | input->ReleaseMutex();
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[7] | 93 |
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[15] | 94 | total = p + i + d;
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| 95 | if (total > sat->Value())
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| 96 | total = sat->Value();
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| 97 | if (total < -sat->Value())
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| 98 | total = -sat->Value();
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[7] | 99 |
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[15] | 100 | state->GetMutex();
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| 101 | state->SetValueNoMutex(0, 0, p);
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| 102 | state->SetValueNoMutex(1, 0, i);
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| 103 | state->SetValueNoMutex(2, 0, d);
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| 104 | state->SetValueNoMutex(3, 0, total);
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| 105 | state->ReleaseMutex();
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[7] | 106 |
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[15] | 107 | self->output->SetValue(0, 0, total);
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| 108 | self->output->SetDataTime(data->DataTime());
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[7] | 109 |
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[15] | 110 | previous_time = data->DataTime();
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[7] | 111 | }
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