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 #include <limits>
22 
23 namespace pid_control
24 {
25 namespace ec
26 {
27 
28 double stepwise(const ec::StepwiseInfo& info, double input)
29 {
30     double value = info.output[0]; // if we are below the lowest
31                                    // point, we set the lowest value
32 
33     for (size_t ii = 1; ii < ec::maxStepwisePoints; ii++)
34     {
35 
36         if (std::isnan(info.reading[ii]))
37         {
38             break;
39         }
40         if (info.reading[ii] > input)
41         {
42             break;
43         }
44         value = info.output[ii];
45     }
46 
47     return value;
48 }
49 
50 } // namespace ec
51 } // namespace pid_control
52