1 // SPDX-License-Identifier: Apache-2.0
2 // SPDX-FileCopyrightText: Copyright 2017 Google Inc
13 double PIDController::calPIDOutput(double setpt, double input,  in calPIDOutput()  argument
19     if (info->checkHysterWithSetpt)  in calPIDOutput()
22         if (input > (setpt + info->positiveHysteresis))  in calPIDOutput()
25             output = ec::pid(info, input, setpt, &name);  in calPIDOutput()
29             // value  in calPIDOutput()
30             lastInput = input;  in calPIDOutput()
33         else if (input < (setpt - info->negativeHysteresis))  in calPIDOutput()
36             info->integral = 0;  in calPIDOutput()
42             lastInput = input;  in calPIDOutput()
43             output = info->lastOutput;  in calPIDOutput()
46         info->lastOutput = output;  in calPIDOutput()
51         if (info->positiveHysteresis == 0 && info->negativeHysteresis == 0)  in calPIDOutput()
54             output = ec::pid(info, input, setpt, &name);  in calPIDOutput()
58             // value  in calPIDOutput()
59             lastInput = input;  in calPIDOutput()
63             // initialize if the value is not set (NAN) or abnormal (+INF or  in calPIDOutput()
64             // -INF)  in calPIDOutput()
67                 lastInput = input;  in calPIDOutput()
72             else if ((input - lastInput) > info->positiveHysteresis)  in calPIDOutput()
74                 lastInput = input;  in calPIDOutput()
76             else if ((lastInput - input) > info->negativeHysteresis)  in calPIDOutput()
78                 lastInput = input;  in calPIDOutput()
90     double input;  in process()  local
94     // Get setpt value  in process()
97     // Get input value  in process()
98     input = inputProc();  in process()
102     // Calculate output value  in process()
103     output = calPIDOutput(setpt, input, info);  in process()
105     info->lastOutput = output;  in process()
107     // Output new value  in process()