1 /**
2  * Copyright 2017 Google Inc.
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 "pidcontroller.hpp"
18 
19 #include "ec/pid.hpp"
20 
21 #include <algorithm>
22 #include <chrono>
23 #include <iostream>
24 #include <map>
25 #include <memory>
26 #include <thread>
27 #include <vector>
28 
29 void PIDController::process(void)
30 {
31     double input;
32     double setpt;
33     double output;
34 
35     // Get setpt value
36     setpt = setptProc();
37 
38     // Get input value
39     input = inputProc();
40 
41     // Calculate new output
42     output = ec::pid(getPIDInfo(), input, setpt);
43 
44     // Output new value
45     outputProc(output);
46 
47     return;
48 }
49