1 /* 2 // Copyright (c) 2018 Intel Corporation 3 // 4 // Licensed under the Apache License, Version 2.0 (the "License"); 5 // you may not use this file except in compliance with the License. 6 // You may obtain a copy of the License at 7 // 8 // http://www.apache.org/licenses/LICENSE-2.0 9 // 10 // Unless required by applicable law or agreed to in writing, software 11 // distributed under the License is distributed on an "AS IS" BASIS, 12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 // See the License for the specific language governing permissions and 14 // limitations under the License. 15 */ 16 17 #include "stepwise.hpp" 18 19 #include <cmath> 20 #include <cstddef> 21 22 namespace pid_control 23 { 24 namespace ec 25 { 26 stepwise(const ec::StepwiseInfo & info,double input)27double stepwise(const ec::StepwiseInfo& info, double input) 28 { 29 double value = info.output[0]; // if we are below the lowest 30 // point, we set the lowest value 31 32 for (size_t ii = 1; ii < ec::maxStepwisePoints; ii++) 33 { 34 if (std::isnan(info.reading[ii])) 35 { 36 break; 37 } 38 if (info.reading[ii] > input) 39 { 40 break; 41 } 42 value = info.output[ii]; 43 } 44 45 return value; 46 } 47 48 } // namespace ec 49 } // namespace pid_control 50