Add stepwise controller
This adds the ability to use stepwise curves alongside
pid control. This creates a base controller class that
pidcontroller and stepwise controller inherit from.
Note: Hysteresis to come in follow-on patch
Tested-by:
Created a stepwise controller and noticed that when it
crossed a threshold that it contributed to the pwm setting.
Change-Id: I6cf842f80eaccafc905d620970afe91e2092d568
Signed-off-by: James Feist <james.feist@linux.intel.com>
diff --git a/pid/pidcontroller.cpp b/pid/pidcontroller.cpp
new file mode 100644
index 0000000..524b0ef
--- /dev/null
+++ b/pid/pidcontroller.cpp
@@ -0,0 +1,48 @@
+/**
+ * Copyright 2017 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "pidcontroller.hpp"
+
+#include "ec/pid.hpp"
+
+#include <algorithm>
+#include <chrono>
+#include <iostream>
+#include <map>
+#include <memory>
+#include <thread>
+#include <vector>
+
+void PIDController::process(void)
+{
+ float input;
+ float setpt;
+ float output;
+
+ // Get setpt value
+ setpt = setpt_proc();
+
+ // Get input value
+ input = input_proc();
+
+ // Calculate new output
+ output = ec::pid(get_pid_info(), input, setpt);
+
+ // Output new value
+ output_proc(output);
+
+ return;
+}