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 "ec/pid.hpp" 18 19 #include <cstring> 20 #include <iostream> 21 22 void initializePIDStruct(ec::pid_info_t* info, const ec::pidinfo& initial) 23 { 24 std::memset(info, 0x00, sizeof(ec::pid_info_t)); 25 26 info->ts = initial.ts; 27 info->proportionalCoeff = initial.p_c; 28 info->integralCoeff = initial.i_c; 29 info->feedFwdOffset = initial.ff_off; 30 info->feedFwdGain = initial.ff_gain; 31 info->integralLimit.min = initial.i_lim.min; 32 info->integralLimit.max = initial.i_lim.max; 33 info->outLim.min = initial.out_lim.min; 34 info->outLim.max = initial.out_lim.max; 35 info->slewNeg = initial.slew_neg; 36 info->slewPos = initial.slew_pos; 37 info->negativeHysteresis = initial.negativeHysteresis; 38 info->positiveHysteresis = initial.positiveHysteresis; 39 } 40 41 void dumpPIDStruct(ec::pid_info_t* info) 42 { 43 std::cerr << " ts: " << info->ts << " p_c: " << info->proportionalCoeff 44 << " i_c: " << info->integralCoeff 45 << " ff_off: " << info->feedFwdOffset 46 << " ff_gain: " << info->feedFwdGain 47 << " i_lim.min: " << info->integralLimit.min 48 << " i_lim.max: " << info->integralLimit.max 49 << " out_lim.min: " << info->outLim.min 50 << " out_lim.max: " << info->outLim.max 51 << " slew_neg: " << info->slewNeg 52 << " slew_pos: " << info->slewPos 53 << " last_output: " << info->lastOutput 54 << " integral: " << info->integral << std::endl; 55 56 return; 57 } 58