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, ec::pidinfo* initial) 23 { 24 std::memset(info, 0x00, sizeof(ec::pid_info_t)); 25 26 info->ts = initial->ts; 27 info->p_c = initial->p_c; 28 info->i_c = initial->i_c; 29 info->ff_off = initial->ff_off; 30 info->ff_gain = initial->ff_gain; 31 info->i_lim.min = initial->i_lim.min; 32 info->i_lim.max = initial->i_lim.max; 33 info->out_lim.min = initial->out_lim.min; 34 info->out_lim.max = initial->out_lim.max; 35 info->slew_neg = initial->slew_neg; 36 info->slew_pos = initial->slew_pos; 37 } 38 39 void DumpPIDStruct(ec::pid_info_t* info) 40 { 41 std::cerr << " ts: " << info->ts << " p_c: " << info->p_c 42 << " i_c: " << info->i_c << " ff_off: " << info->ff_off 43 << " ff_gain: " << info->ff_gain 44 << " i_lim.min: " << info->i_lim.min 45 << " i_lim.max: " << info->i_lim.max 46 << " out_lim.min: " << info->out_lim.min 47 << " out_lim.max: " << info->out_lim.max 48 << " slew_neg: " << info->slew_neg 49 << " slew_pos: " << info->slew_pos 50 << " last_output: " << info->last_output 51 << " integral: " << info->integral << std::endl; 52 53 return; 54 } 55