1*d8012181SPatrick Venture /** 2*d8012181SPatrick Venture * Copyright 2017 Google Inc. 3*d8012181SPatrick Venture * 4*d8012181SPatrick Venture * Licensed under the Apache License, Version 2.0 (the "License"); 5*d8012181SPatrick Venture * you may not use this file except in compliance with the License. 6*d8012181SPatrick Venture * You may obtain a copy of the License at 7*d8012181SPatrick Venture * 8*d8012181SPatrick Venture * http://www.apache.org/licenses/LICENSE-2.0 9*d8012181SPatrick Venture * 10*d8012181SPatrick Venture * Unless required by applicable law or agreed to in writing, software 11*d8012181SPatrick Venture * distributed under the License is distributed on an "AS IS" BASIS, 12*d8012181SPatrick Venture * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13*d8012181SPatrick Venture * See the License for the specific language governing permissions and 14*d8012181SPatrick Venture * limitations under the License. 15*d8012181SPatrick Venture */ 16*d8012181SPatrick Venture 17*d8012181SPatrick Venture #include <cstring> 18*d8012181SPatrick Venture #include <iostream> 19*d8012181SPatrick Venture 20*d8012181SPatrick Venture #include "ec/pid.hpp" 21*d8012181SPatrick Venture 22*d8012181SPatrick Venture void InitializePIDStruct(ec::pid_info_t* info, ec::pidinfo* initial) 23*d8012181SPatrick Venture { 24*d8012181SPatrick Venture std::memset(info, 0x00, sizeof(ec::pid_info_t)); 25*d8012181SPatrick Venture 26*d8012181SPatrick Venture info->ts = initial->ts; 27*d8012181SPatrick Venture info->p_c = initial->p_c; 28*d8012181SPatrick Venture info->i_c = initial->i_c; 29*d8012181SPatrick Venture info->ff_off = initial->ff_off; 30*d8012181SPatrick Venture info->ff_gain = initial->ff_gain; 31*d8012181SPatrick Venture info->i_lim.min = initial->i_lim.min; 32*d8012181SPatrick Venture info->i_lim.max = initial->i_lim.max; 33*d8012181SPatrick Venture info->out_lim.min = initial->out_lim.min; 34*d8012181SPatrick Venture info->out_lim.max = initial->out_lim.max; 35*d8012181SPatrick Venture info->slew_neg = initial->slew_neg; 36*d8012181SPatrick Venture info->slew_pos = initial->slew_pos; 37*d8012181SPatrick Venture } 38*d8012181SPatrick Venture 39*d8012181SPatrick Venture void DumpPIDStruct(ec::pid_info_t *info) 40*d8012181SPatrick Venture { 41*d8012181SPatrick Venture std::cerr << " ts: " << info->ts 42*d8012181SPatrick Venture << " p_c: " << info->p_c 43*d8012181SPatrick Venture << " i_c: " << info->i_c 44*d8012181SPatrick Venture << " ff_off: " << info->ff_off 45*d8012181SPatrick Venture << " ff_gain: " << info->ff_gain 46*d8012181SPatrick Venture << " i_lim.min: " << info->i_lim.min 47*d8012181SPatrick Venture << " i_lim.max: " << info->i_lim.max 48*d8012181SPatrick Venture << " out_lim.min: " << info->out_lim.min 49*d8012181SPatrick Venture << " out_lim.max: " << info->out_lim.max 50*d8012181SPatrick Venture << " slew_neg: " << info->slew_neg 51*d8012181SPatrick Venture << " slew_pos: " << info->slew_pos 52*d8012181SPatrick Venture << " last_output: " << info->last_output 53*d8012181SPatrick Venture << " integral: " << info->integral 54*d8012181SPatrick Venture << std::endl; 55*d8012181SPatrick Venture 56*d8012181SPatrick Venture return; 57*d8012181SPatrick Venture } 58