blob: cbe24524ff0bdcecc82acb013708fdcc062090a3 [file] [log] [blame]
/**
* 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 = setptProc();
// Get input value
input = inputProc();
// Calculate new output
output = ec::pid(getPIDInfo(), input, setpt);
// Output new value
outputProc(output);
return;
}